| 摘要: |
|
| 关键词: |
| DOI： |
| Received:March 20, 2012Revised:August 30, 2012 |
| 基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 60974127, 61273091), the Natural Science Foundation of Shandong Province (No. ZR2011FM033), and the Innovation Program of Graduate Students of Jiangsu Province (No. CXLX12 0097). |
|
| Control of nonholonomic systems with nonlinear unmeasured dynamics by output feedback |
| Yan ZHAO,Yuqiang WU |
| (School of Automation, Southeast University;Institute of Automation, Qufu Normal University) |
| Abstract: |
| This paper studies the problem of output feedback stabilization for a class of more general nonholonomic systems whose nonlinear drifts are polynomially bounded by high-order terms of unmeasured states. An output feedback controller is obtained applying the backstepping approach and the dual observer method. The homogenous theory is also utilized in the recursive process. Together with a switching control scheme, the designed controller guarantees that the closed-loop system is output feedback globally asymptotically stabilized and the states converge to zero asymptotically. A simulation example is provided to illustrate the validness of the proposed approach. |
| Key words: Output feedback Switching control High order Unmeasured states |
