Disturbance attenuation of uncertain nonholonomic systems in chained forms

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Abstract

Nonlinear H control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an ℒ2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive control of uncertain nonholonomic systems are extended to include external disturbance inputs. An simulation example shows the effectiveness of the proposed control schemes.

Original languageEnglish
Title of host publicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages403-407
Number of pages5
DOIs
StatePublished - 2006
Event6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China
Duration: 21 Jun 200623 Jun 2006

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume1

Conference

Conference6th World Congress on Intelligent Control and Automation, WCICA 2006
Country/TerritoryChina
CityDalian
Period21/06/0623/06/06

Keywords

  • Backstepping
  • Disturbance attenuation
  • Nonholonomic systems
  • Nonlinear control
  • ℒ gain

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