Robust stabilization of uncertain nonholonomic systems with strong nonlinear drifts
Yuqiang WU
Xiuyun ZHENG
摘要：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 fiflite 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 recurslve 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.
机标关键词：asymptotic stabilizationintegrator backsteppingrobust stabilizationrobust controllercontrol strategycontrol systems
资助基金：National Natural Science Foundation of China(60674027)
论文发表日期：2008-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：4( 427-430 )
英文信息