The output feedback control for uncertain nonholonomic systems. (English) Zbl 1303.93089
Summary: 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.
MSC:
| 93B52 | Feedback control |
| 37J60 | Nonholonomic dynamical systems |
| 93C15 | Control/observation systems governed by ordinary differential equations |
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