RESEARCH ARTICLE
Output feedback stabilization for nonholonomic systems with unknown unmeasured states-dependent growth
Jiangbo Yu,
Yungang Liu,
Yuqiang Wu,
Corresponding Author
Jiangbo Yu
School of Control Science and Engineering, Shandong University, Jinan, China
School of Science, Shandong Jianzhu University, Jinan, China
Jiangbo Yu, School of Control Science and Engineering, Shandong University, Jinan 250061, China; or School of Science, Shandong Jianzhu University, Jinan 250101, China.
Email: [email protected]
Search for more papers by this authorYungang Liu
School of Control Science and Engineering, Shandong University, Jinan, China
Search for more papers by this authorYuqiang Wu
Institute of Automation, Qufu Normal University, Qufu, China
Search for more papers by this authorJiangbo Yu,
Yungang Liu,
Yuqiang Wu,
Corresponding Author
Jiangbo Yu
School of Control Science and Engineering, Shandong University, Jinan, China
School of Science, Shandong Jianzhu University, Jinan, China
Jiangbo Yu, School of Control Science and Engineering, Shandong University, Jinan 250061, China; or School of Science, Shandong Jianzhu University, Jinan 250101, China.
Email: [email protected]
Search for more papers by this authorYungang Liu
School of Control Science and Engineering, Shandong University, Jinan, China
Search for more papers by this authorYuqiang Wu
Institute of Automation, Qufu Normal University, Qufu, China
Search for more papers by this authorSummary
This paper is concerned with the global output feedback stabilization for a class of nonholonomic systems with unknown parameter, polynomial-of-output, and unmeasurable states dependent growth. A dynamic high-gain observer is first designed to reconstruct the unmeasurable system states and, in addition, to compensate the serious parameter unknowns in nonlinear drifts. Then, we design a compact adaptive controller without invoking the backstepping technique, which reduces the complexity of controller. Additionally, a switching control strategy is employed to overcome the smooth feedback obstacle associated with nonholonomic systems. It is shown that the proposed control laws guarantee that all closed-loop system states are globally bounded and ultimately converge to zero. The simulation results demonstrate the effectiveness of the proposed control strategy.
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