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Output-feedback control for nonholonomic systems with linear growth condition

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Abstract

This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.

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Authors and Affiliations

  1. Department of Mathematics, Armored Force Engineering Institute, Beijing, 100072, China

    Guiling Ju & Weihai Sun

  2. Institute of Automation, Qufu Normal University, Qufu, 273165, China

    Yuqiang Wu

Authors
  1. Guiling Ju
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  2. Yuqiang Wu
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  3. Weihai Sun
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Corresponding author

Correspondence to Guiling Ju.

Additional information

This research is supported by the National Natural Science Foundation of China under Grant No. 60974127.

This paper was recommended for publication by Editor Jinhu LÜ.

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Ju, G., Wu, Y. & Sun, W. Output-feedback control for nonholonomic systems with linear growth condition. J Syst Sci Complex 24, 862–874 (2011). https://doi.org/10.1007/s11424-011-8447-z

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  • DOI: https://doi.org/10.1007/s11424-011-8447-z

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