Output feedback stabilization for stochastic nonholonomic systems with nonlinear drifts and Markovian switching

2014 ◽  
Vol 16 (6) ◽  
pp. 1679-1692 ◽  
Author(s):  
Dongkai Zhang ◽  
Chaoli Wang ◽  
Guoliang Wei ◽  
Hua Chen
Keyword(s):  
Output Feedback ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Markovian Switching ◽  
Output Feedback Stabilization

scholarly journals Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yanling Shang ◽  
Ye Yuan ◽  
Fushun Yuan
Keyword(s):  
Output Feedback ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Nonlinear Parameterization ◽  
Output Feedback Stabilization ◽  
Backstepping Approach ◽  
Nonlinearly Parameterized ◽  
System States ◽  
Parameter Separation

This paper investigates the problem of adaptive output feedback stabilization for a class of nonholonomic systems with nonlinear parameterization and strong nonlinear drifts. A parameter separation technique is introduced to transform nonlinearly parameterized system into a linear-like parameterized system. Then, by using the integrator backstepping approach based on observer and parameter estimator, a constructive design procedure for output feedback adaptive control is given. And a switching strategy is developed to eliminate the phenomenon of uncontrollability. It is shown that, under some conditions, the proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.

scholarly journals Global Finite-Time Output Feedback Stabilization for a Class of Uncertain Nonholonomic Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Baojian Du ◽  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Closed Loop ◽  
Output Feedback Control ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Closed Loop System ◽  
Output Feedback Stabilization ◽  
Switching Control Strategy

This paper investigates the problem of global finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. By using backstepping recursive technique and the homogeneous domination approach, a constructive design procedure for output feedback control is given. Together with a novel switching control strategy, the designed controller renders that the states of closed-loop system are regulated to zero in a finite time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

Output Feedback Stabilization of Uncertain Nonholonomic Chained Systems

2013 ◽  
Vol 655-657 ◽  
pp. 1354-1360
Author(s):  
Zhu Ping Wang ◽  
Zhan Ping Yuan ◽  
Qi Jun Chen
Keyword(s):  
Output Feedback ◽  
Control Strategies ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Stabilization Problem ◽  
Control Laws ◽  
Output Feedback Stabilization ◽  
System States ◽  
Chained Systems ◽  
Control Coefficients

In this paper, output feedback stabilization problem of a class of nonholonomic systems in chained form with drift nonlinearity and unknown virtual control coefficients is considered. Observer-based output feedback design is developed when only partial system states are measurable. The control laws are developed using state scaling and backstepping techniques. The proposed control strategies can steer the system globally converge to the origin.

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