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OUTPUT-FEEDBACK CONTROL FOR NONHOLONOMIC SYSTEMS WITH LINEAR GROWTH CONDITION

Guiling JU 1, Yuqiang WU 2, Weihai SUN 1   

  1. 1. Department of Mathematics, Armored Force Engineering Institute, Beijing 100072, China; 2. Institute of Automation, Qufu Normal University, Qufu
    273165, China
  • Received:2008-12-18 Online:2011-10-25 Published:2011-09-27
  • Supported by:

    This research is supported by the National Natural Science Foundation of China under Grant No. 60974127.

Guiling JU, Yuqiang WU, Weihai SUN . OUTPUT-FEEDBACK CONTROL FOR NONHOLONOMIC SYSTEMS WITH LINEAR GROWTH CONDITION[J]. Journal of Systems Science and Complexity, 2011, 24(5): 862-874.

This paper deals with the stabilization of the nonholonomic  systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.
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