一类不确定级联链式非完整系统的自适应镇定控制

Adaptive stabilizing control for a class of uncertain cascaded chained-form nonholonomic systems

本文研究一类带有未建模动态及未知参数的级联链式非完整系统的自适应输出反馈镇定问题.通过构造动态增益观测器与自适应估计器,借助反步递推方法提出了一种新的自适应输出反馈镇定控制方案.本文应用切换控制策略克服了非完整系统不能够通过连续反馈实现镇定控制的困难.文中设计的控制律保证了闭环系统在原点渐近镇定且状态渐近收敛于零.仿真结果验证了算法的有效性.

In this article,we investigate the adaptive output feedback stabilizing control problem for a class of uncertain cascaded chained-form nonholonomic systems with unmodeled dynamics and unknown parameters.Using only the output information,we propose a novel adaptive output feedback stabilizing control scheme with the help of a dynamic gain observer and the adaptive estimator.The backstepping recursive method plays a key role in this procedure.Additionally,a switching adaptive control strategy is developed to get around the continuous stabilization burden associated with nonholonomic systems.The proposed control scheme guarantees the system states in closed-loop system converge to the origin.The simulation results illustrate the efficacy of the presented algorithm.