198
Views
13
CrossRef citations to date
0
Altmetric
Original Articles

Adaptive output feedback control for nonholonomic systems with uncertain chained form

, &
Pages 1537-1547 | Received 31 Oct 2007, Accepted 05 Oct 2009, Published online: 20 Oct 2010

References

  • Astolfi , A . 1996 . Discontinuous Control of Nonholonomic Systems . Systems and Control Letters , 27 : 37 – 45 .
  • Bloch , AM , Reyhanoglu , M and McClamroch , NH . 1992 . Control and Stabilisation of Nonholonomic Dynamic Systems . IEEE Transactions on Automatic Control , 37 : 1746 – 1757 .
  • Do , KD and Pan , J . 2002 . Adaptive Global Stabilisation of Nonholonomic Systems with Strong Nonlinear Drifts . Systems and Control Letters , 46 : 195 – 205 .
  • Ding , Z . 2000 . Adaptive Control of Nonlinear Systems with Unknown Virtual Control Coefficients . International Journal of Control Signal Processing , 14 : 505 – 517 .
  • Ferrara, A., Giacomini, L., and Vecchio, C. (2008), ‘Adaptive Sliding Mode Control of Nonholonomic Systems in Chained Form with Unknown Control Direction and Uncertainties’, Mathematical Problems in Engineering, Aerospace and Sciences, University of Pavia, Pavia, Italy. http://atlas-conferences.com/c/a/w/z/62.htm
  • Ge , SS , Wang , ZP and Lee , TH . 2003 . Adaptive Stabilisation of Uncertain Nonholonomic Systems by State and Output Feedback . Automatica , 39 : 1451 – 1460 .
  • Han , Y . 2005 . A Robust Algorithm for Model-Following Control of Under-Actuated Systems and its Application to a Non-holonomic Robot and an Aircraft . International Journal of Systems Science , 36 : 341 – 356 .
  • Jiang , ZP . 1996 . Iterative Design of Time Varying Stabilizers for Multi-input Systems in Chained Form . Systems and Control Letters , 28 : 255 – 262 .
  • Jiang , ZP and Nijmeijer , H . 1999 . A Recursive Technique for Tracking Control of Nonholonomic Systems in Chained Form . IEEE Transactions on Automatic Control , 44 : 265 – 279 .
  • Jiang , ZP . 2000 . Robust Exponential Regulation of Nonholonomic Systems with Uncertainties . Automatica , 36 : 189 – 209 .
  • Khalil , HK . 2002 . Nonlinear Systems , 3rd , Upper Saddle River, NJ : Prentice Hall .
  • Krstic , M , Kanellakopoulos , I and Kokotovic , PV . 1995 . Nonlinear and Adaptive Control Design , New York : Wiley .
  • Lee , J-J . 1996 . Robust Adaptive Control of an Underactuated Free-flying Space Robot Under a Non-holonomic Structure in Joint Space . International Journal of Systems Science , 27 : 1113 – 1121 .
  • Liu , YG and Zhang , JF . 2005 . Output Feedback Adaptive Stabilisation Control Design for Nonholonomic Systems With Strong Nonlinear Drifts . International Journal of Control , 78 : 474 – 490 .
  • Mareels , I and Polderman , JW . 1996 . Adaptive Systems: An Introduction , Boston, MA : Birkhauser .
  • M’Closkey , R and Murray , R . 1997 . Exponential Stabilisation of Driftless Nonlinear Control Systems Using Homogeneous Feedback . IEEE Transactions on Automatic Control , 42 : 614 – 628 .
  • Sordalen , OJ and Egeland , O . 1995 . Exponential Stabilisation of Nonholonomic Chained Systems . IEEE Transactions on Automatic Control , 40 : 35 – 49 .
  • Sontag , ED . 1989 . Smooth Stabilisation Implies Coprime Factorization . IEEE Transactions on Automatic Control , 34 : 435 – 443 .
  • Shih , CL . 1999 . Stabilisation of Non-holonomic Chained Systems by Gain Scheduling . International Journal of Systems Science , 30 : 441 – 449 .
  • Xi , ZR , Feng , G , Jiang , ZP and Cheng , DZ . 2003 . A Switching Algorithm for Global Exponential Stabilisation of Uncertain Chained Systems . IEEE Transactions on Automatic Control , 48 : 1793 – 1798 .
  • Xi , ZR , Feng , G , Jiang , ZP and Cheng , DZ . 2007 . Output feedback exponential stabilisation of uncertain chained systems . Journal of Franklin Institute , 344 : 36 – 57 .
  • Ye , XD . 1999 . Asymptotic Regulation of Time-Varying Uncertain Nonlinear Systems with Unknown Control Directions . Automatica , 35 : 929 – 935 .
  • Ye , XD and Jiang , J . 1998 . Adaptive Nonlinear Design Without A Priori Knowledge of Control Directions . IEEE Transactions on Automatic Control , 43 : 1617 – 1621 .

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.