Output-feedback adaptive stabilization control design for non-holonomic systems with strong nonlinear drifts. (English) Zbl 1115.93082

The paper is devoted to the output feedback adaptive stabilization control design for non-holonomic systems with a particular structure. Roughly speaking, it can be described as follows. The state is \((x_0,x_1,\dots,x_n)\in\mathbb R^n\), the control is \((u_0,u_1)\in\mathbb R^2\), and the measured output is \((x_0,x_1)\in\mathbb R^2\). The system equations may contain drift terms of different nature: modeled dynamics depending on \((x_0,x_1,u_0)\), unknown unmodeled dynamics, and unknown time invariant parameters. When the drift terms vanish, the system reduces to the standard normal form.
The construction of the control requires the design of a dynamic observer and of a feedback law. The authors indicate the assumptions under which asymptotic stability can be achieved either in a global sense (if the equation for the variable \(x_0\) does not contain drift terms) or in a semiglobal sense (otherwise).


93D21 Adaptive or robust stabilization
93C85 Automated systems (robots, etc.) in control theory
Full Text: DOI


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