标题：Output Feedback Asymptotic Stabilization of Nonholonomic Systems with Uncertainties
作者：Zhang, Xianfu; Zhang, Chenghui; Wang, Yuzheng
作者机构：[Zhang, Xianfu; Zhang, Chenghui; Wang, Yuzheng] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China.
会议名称：3rd IEEE Annual International Conference on Cyber Technology in Automation, Control and Intelligent System (CYBER)
会议日期：MAY 26-29, 2013
来源：2013 IEEE 3RD ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL AND INTELLIGENT SYSTEMS (CYBER)
关键词：Output Feedback; nonholonomic Systems; dynamic gain controllers;; Lyapunov method
摘要：This paper is concerned with the asymptotic stabilization problem for a class of nonholonomic systems with uncertainties. The uncertain nonlinearities involved in the systems are assumed to be bounded by continuous functions of the outputs multiplied by measured states and unmeasured states. Our design outline is as follows. First, by using the input-state scaling technique, the nonholonomic systems can be converted into triangular nonlinear systems. Second, a dynamic gain observer is provided for the converted triangular nonlinear systems. Third, by choosing the appropriate state transformation, the problem of designing controller can be converted into the problem of constructing a dynamic system with r as its state. Last, a dynamic system with r as its state is constructed by estimating the nonlinearities, and stability analysis of the closed-loop control system is conducted by using the Lyapunov stability theory. Contrary to many existing control designs for nonholonomic systems, the celebrated backstepping design is not utilized here.