This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation （GAR） by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coor...This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation （GAR） by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.展开更多
基金This work was supported by the National Natural Science Foundation of China(No.60304003,60574007,60574080) Scholastic Youth Foundation of Qufu Normal University.
文摘This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation （GAR） by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.
