Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties | Zendy

Dianguo Cao | Zendy; Jiaqian Chen | Zendy

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Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties

Author(s) -

Dianguo Cao,

Jiaqian Chen

Publication year - 2021

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2021/9941611

Subject(s) - control theory (sociology) , nonholonomic system , backstepping , disturbance (geology) , controller (irrigation) , bounded function , state observer , computer science , term (time) , state (computer science) , mathematics , control engineering , control (management) , engineering , nonlinear system , adaptive control , robot , physics , mobile robot , artificial intelligence , algorithm , paleontology , mathematical analysis , quantum mechanics , agronomy , biology

This study investigates the global output feedback stabilization problem for one type of the nonholonomic system with nonvanishing external disturbances. An extended state observer (ESO) is constructed in order to estimate the external disturbance and unmeasurable system states, in which the external disturbance term is seen as a general state. Thus, a new generalized error dynamic system is obtained. Accordingly, a disturbance rejection controller is designed by making use of the backstepping technique. A control law is given to ensure that all the signals in the closed-loop system are globally bounded, while the system states converge to an equilibrium point. The simulation example is proposed to verify that the control algorithm is effective.

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