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Adaptive stabilization of uncertain nonholonomic systems by output feedback
Received:August 18,2007  Revised:August 5,2008
Keywords:Nonholonomic systems  Backstepping  Switching control strategy  Adaptive stabilization
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Xiuyun ZHENG, Yuqiang WU Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China 
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Abstract:
      The adaptive output feedback control strategy is presented for a class of nonholonomic systems in chained form with nonlinearity uncertainties. A new observer and a filter are introduced for the states and parameter estimation. The proposed control strategies guarantee the convergence of the closed-loop system. The simulation example demonstrates the efficiency of the proposed method.
Xiuyun ZHENG, Yuqiang WU.Adaptive stabilization of uncertain nonholonomic systems by output feedback[J].Journal of Control Theory and Applications,2009,7(4):459~463.
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