Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0005-1098(03)00119-5
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dc.titleAdaptive stabilization of uncertain nonholonomic systems by state and output feedback
dc.contributor.authorGe, S.S.
dc.contributor.authorWang, Z.
dc.contributor.authorLee, T.H.
dc.date.accessioned2014-10-07T04:23:28Z
dc.date.available2014-10-07T04:23:28Z
dc.date.issued2003-08
dc.identifier.citationGe, S.S., Wang, Z., Lee, T.H. (2003-08). Adaptive stabilization of uncertain nonholonomic systems by state and output feedback. Automatica 39 (8) : 1451-1460. ScholarBank@NUS Repository. https://doi.org/10.1016/S0005-1098(03)00119-5
dc.identifier.issn00051098
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/81938
dc.description.abstractIn this paper, adaptive state feedback and output feedback control strategies are presented for a class of nonholonomic systems in chained form with drift nonlinearity and parametric uncertainties. Both control laws are developed using state scaling and backstepping techniques. In particular, novel adaptive switching is proposed to overcome the uncontrollablity problem associated with x0(t0) = 0. Observer-based output feedback design is developed when only partial system states are measurable, and a filtered observer rather than the traditional linear observer is used to handle the technical problem due to the presence of unavailable states in the regressor matrix. The proposed control strategies can steer the system globally converge to the origin, while the estimated parameters maintain bounded. © 2003 Elsevier Ltd. All rights reserved.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/S0005-1098(03)00119-5
dc.sourceScopus
dc.subjectAdaptive
dc.subjectNonholonomic system
dc.subjectOutput feedback
dc.subjectStabilization
dc.subjectState feedback
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1016/S0005-1098(03)00119-5
dc.description.sourcetitleAutomatica
dc.description.volume39
dc.description.issue8
dc.description.page1451-1460
dc.description.codenATCAA
dc.identifier.isiut000184188700013
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