GLOBAL OUTPUT FEEDBACK STABILIZATION FOR A CLASS OF UNCERTAIN NONHOLONOMIC SYSTEMS WITH PARTIAL INPUTS SATURATION
Yanling Shang, Fangzheng Gao, and Yuqiang Wu
Keywords
Nonholonomic systems, partial inputs saturation, back stepping,output feedback, global stabilization
Abstract
This paper investigates the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. Based on a novel reduced-order observer to estimate the unmeasured states, a constructive design procedure for output feedback control is presented by using input-state-scaling technique and backstepping
recursive approach. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. The simulation results
based on a practical example demonstrate the effectiveness of the proposed approach.
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