Partial-state Feedback Stabilization for a Class of Generalized Nonholonomic Systems with ISS Dynamic Uncertainties

Yan Zhao1, Chunxiao Wang1, Jiangbo Yu1
1School of Science, Shandong Jianzhu University, Jinan, P.R. China

Tóm tắt

In this paper, the problem of global stabilization control via partial-state feedback is addressed for a class of uncertain nonholonomic systems with the disturbed virtual control directions. The investigated nonholonomic system has the input-to-state stable (ISS) dynamic uncertainties. The small gain theorem and the changing supply function technique are employed to derive a global stabilization controller. Additionally, we develop a switching control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm.

Tài liệu tham khảo

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