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https://scholarbank.nus.edu.sg/handle/10635/84140
| Title: | Robust adaptive control of uncertain nonholonomic systems using domination design | Authors: | Tao, P.Y. Ge, S.S. Lee, T.H. Chen, X.Q. |
Keywords: | Feedback Domination design Nonholonomic systems Robust Adaptive control |
Issue Date: | 2005 | Citation: | Tao, P.Y.,Ge, S.S.,Lee, T.H.,Chen, X.Q. (2005). Robust adaptive control of uncertain nonholonomic systems using domination design. Proceedings of the SICE Annual Conference : 2472-2477. ScholarBank@NUS Repository. | Abstract: | In this paper, robust adaptive control is investigated for a class of nonholonomic systems in chained form with uncertain virtual control coefficients and strong drift nonlinearities. An adaptive controller is developed utilizing an improved domination design, where the known physical properties of the system are exploited. For the case x0 (0) = 0, an adaptive switching control is designed to overcome the uncontrollability problem. © 2005 SICE. | Source Title: | Proceedings of the SICE Annual Conference | URI: | http://scholarbank.nus.edu.sg/handle/10635/84140 |
| Appears in Collections: | Staff Publications |
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