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Adaptive stabilization of state‐constrained uncertain nonholonomic system via dynamic surface control
Author(s) -
Zhang Zhongcai,
Zhang Shengmiao
Publication year - 2021
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3280
Subject(s) - nonholonomic system , control theory (sociology) , adaptive control , state (computer science) , parametric statistics , stability (learning theory) , computer science , control (management) , function (biology) , control engineering , engineering , mathematics , robot , mobile robot , artificial intelligence , algorithm , statistics , machine learning , evolutionary biology , biology
Summary In this presented work, a systematic adaptive stabilization control strategy is proposed for nonholonomic system with parametric uncertainties and full‐state constraints. To facilitate the handling of state constraints, the original constrained nonholonomic system is converted into a new unconstrained system by state‐dependent function transformations including discontinuous state scalings. The adaptive control algorithm is elaborated by cleverly combing the tuning function design approach with switching control strategy. In stability analysis, it is shown that the designed stabilization control method can realize the desired stabilization control aims and full‐state constraints. Simulation is carried out to demonstrate the effectiveness of the control scheme.