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Output Feedback Control for Uncertain Nonholonomic Systems in Chained Form

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2 Author(s)
Qiangde Wang ; Inst. of Autom., Qufu Normal Univ. ; Chunling Wei

The problems of almost asymptotic stabilization and global asymptotic regulation (GAR) are considered by using 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-variable output feedback controller, which can universally stabilizes a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller

Published in:

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on  (Volume:1 )

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