A switching algorithm for global exponential stabilization of uncertain chained systems
TL;DR: A novel switching control strategy is proposed involving the use of input/state scaling and integrator backstepping and the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms is proposed.
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Abstract: This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Kexponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.
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Uniform Asymptotic Stability of Nonlinear Switched Systems With an Application to Mobile Robots
Ti-Chung Lee,Zhong-Ping Jiang +1 more
TL;DR: A novel switching controller is proposed with guaranteed robustness to orientation error and unknown parameters in mobile robots and a generalized version of Krasovskii-LaSalle theorem in time-varying switched systems is proposed.
234
Output feedback exponential stabilization of uncertain chained systems
TL;DR: A switching control strategy is employed to get around the smooth stabilization issue (difficulty) associated with nonholonomic systems when the initial state of system is known and a dynamic output feedback controller is developed with a filter of observer gain.
Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts
Yungang Liu,Ji-Feng Zhang +1 more
TL;DR: In this article, the problem of output-feedback adaptive stabilization control design for nonholonomic chained systems with strong non-linear drifts was investigated, including modelled nonlinear dynamics, unmodelled dynamics, and those modelled but with unknown parameters.
Design of Switched Linear Systems in the Presence of Actuator Saturation
Liang Lu,Zongli Lin +1 more
TL;DR: For a group of linear systems, each under a saturated linear, not necessarily stabilizing, feedback law, the problem of designing such a switching scheme as a constrained optimization problem with the objective of maximizing an estimate of the domain of attraction is solved.
78
Adaptive output feedback stabilization for nonholonomic systems with strong nonlinear drifts
Xiuyun Zheng,Yuqiang Wu +1 more
TL;DR: In this article, an output feedback adaptive stabilization controller for a nonholonomic chained system with strong nonlinear drifts, including modeled nonlinear dynamics, unmodeled dynamics, and dynamics modeled with unknown parameters is investigated.
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