quotation:		[Copy]
		Yuqiang WU,Xiuyun ZHENG.[en_title][J].Control Theory and Technology,2008,6(4):427~430.[Copy]

This Paper:Browse 1242 Download 238	码上扫一扫！

YuqiangWU,XiuyunZHENG
0 Fontlarge +\|Default\|Small
()

摘要:

关键词:

DOI：

Received:November 14, 2006Revised:September 25, 2007

基金项目:

Robust stabilization of uncertain nonholonomic systems with strong nonlinear drifts

Yuqiang WU, Xiuyun ZHENG

(Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China)

Abstract:

This paper investigates the robust stabilization of the nonholonomic control systems with strongly nonlinear uncertainties. In order to make the state scaling effective and to prevent the finite time escape phenomenon from happening, the switching control strategy based on the state measurement of the first subsystem is employed to achieve the asymptotic stabilization. The recursive integrator backstepping technique is applied to the design of the robust controller. The simulation example demonstrates the efficiency and robust features of the proposed method.

Key words: Nonholonomic systems with uncertainties Switching control strategy Global asymptotic stabilization