|Partial-state Feedback Stabilization for a Class of Generalized Nonholonomic Systems with ISS Dynamic Uncertainties
Yan Zhao*, Chunxiao Wang, and Jiangbo Yu
International Journal of Control, Automation, and Systems, vol. 16, no. 1, pp.79-86, 2018
Abstract : "In this paper, the problem of global stabilization control via partial-state feedback is addressed for a class
of uncertain nonholonomic systems with the disturbed virtual control directions. The investigated nonholonomic
system has the input-to-state stable (ISS) dynamic uncertainties. The small gain theorem and the changing supply
function technique are employed to derive a global stabilization controller. Additionally, we develop a switching
control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The
simulation results illustrate the efficacy of the presented algorithm."
"Input-to-state stable (ISS), nonholonomic systems, partial-state feedback, small gain theorem, stabilization control."
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