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		Qiangde WANG,Chunling WEI,Siying ZHANG.[en_title][J].Control Theory and Technology,2006,4(2):128~132.[Copy]

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QiangdeWANG,ChunlingWEI,SiyingZHANG
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Received:December 08, 2004Revised:January 26, 2006

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The output feedback control for uncertain nonholonomic systems

Qiangde WANG , Chunling WEI, Siying ZHANG

(Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China; Institute of Automation, Southeast University, Nanjing Jiangsu 210096, China; School of Information Science and engineering, Northeastern University, Shenyang Liaoning 110004, China)

Abstract:

This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation (GAR) by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.

Key words: Uncertain nonholonomic systems Output feedback Nonsmooth change of coordinates