Output feedback exponential stabilization of uncertain chained systems

Xi, Zairong; Feng, Gang; Jiang, Zhong‐Ping; Cheng, Daizhan

doi:10.1016/j.jfranklin.2005.10.002

Cited by 113 publications

(89 citation statements)

References 31 publications

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“…So (17) is called uncertain chained system. In many papers, such as [11] and [25], the terms of uncertain nonlinearities in the dynamic systems were imposed to satisfy triangularity condition. Note that the terms on the right side of the second equation of (17) are dependent on the variables x i (i = 2, 3, 4).…”

Section: Uncertain Chained Model Of Type (12) Robotmentioning

confidence: 99%

“…Hence, the robust stabilization of this system is difficult to discuss by using the ways available in [11,25] for (17). We should study the stabilizing problem and design a new controller for the uncertain chained System (17).…”

Section: Uncertain Chained Model Of Type (12) Robotmentioning

confidence: 99%

“…In [11], robust exponential regulation of a large class of nonholonomic systems in perturbed chained form with nonlinear input disturbances and state-driven drift terms was proposed, based on the assumptions that the bounds of uncertainties were known and the structure of the uncertain system must satisfy triangularity condition. In [25], a novel switching control strategy involving the use of input/state scaling and integrator backstepping was proposed. The robust…”

Section: Introductionmentioning

confidence: 99%

“…(25) Our objective is to design k 1 , k 2 , p 3 and p 4 to stabilize the uncertain chained System (23) exponentially by Lemma 2. To solve this problem, three Lemmas are introduced below.…”

mentioning

confidence: 99%

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Robust exponential stabilization of nonholonomic chained systems with unknown parameters

Liang

Wang

et al. 2015

Acta Math. Appl. Sin. Engl. Ser.

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The exponential stabilization problem of a robot-camera system with unknown camera parameters is investigated. Based on the visual feedback and the state-input transformation, an uncertain chained form model is presented for a type of nonholonomic mobile robots. Then, a new time-varying feedback controller is proposed to stabilize the uncertain system exponentially with the help of the stabilization theorems, state-scaling and switching techniques. The exponential stability of the closed-loop system is rigorously proved. Simulation results are given to demonstrate the effectiveness of the proposed strategies.

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Section: Uncertain Chained Model Of Type (12) Robotmentioning

confidence: 99%

Section: Uncertain Chained Model Of Type (12) Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…(25) Our objective is to design k 1 , k 2 , p 3 and p 4 to stabilize the uncertain chained System (23) exponentially by Lemma 2. To solve this problem, three Lemmas are introduced below.…”

mentioning

confidence: 99%

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Robust exponential stabilization of nonholonomic chained systems with unknown parameters

Liang

Wang

et al. 2015

Acta Math. Appl. Sin. Engl. Ser.

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show abstract

“…Hence, it is important and necessary to consider the output feedback control problem for uncertain nonholonomic systems. The output feedback issue has been studied for asympotic and exponential stability properties for the chained systems with uncertainties [11][12][13]15] . The output feedback control problem for uncertain nonholonomic systems are much difficult and still largely open.…”

Section: Introductionmentioning

confidence: 99%

Output-feedback control for nonholonomic systems with linear growth condition

Sun

2011

J Syst Sci Complex

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This paper deals with the stabilization of the nonholonomic systems with strongly nonlinear uncertainties. The objective is to design an output feedback law such that the closed-loop system is globally asymptotically regulated at the origin. The systematic strategy combines the input-state scaling technique with the backstepping technique. A novel switching control strategy based on the output measurement of the first subsystem is employed to make the subsystem far away from the origin. The simulation demonstrates the effectiveness of the proposed controller.

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Output feedback control of stochastic nonlinear systems based on extended state observer

Wang

Zhang

2022

Adaptive Control & Signal

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In this article, we study the controller design and stability analysis for a class of stochastic cascade nonlinear systems with external disturbances. The unmeasurable external disturbance is viewed as an extended state. In order to estimate the unmeasurable system states and the external disturbance, a new extended state observer (ESO) based on the Riccati differential equation is constructed.The stochastic inverse dynamics, the error dynamics of observer, and the ESO constitute new stochastic nonlinear systems. Based on these new systems, an adaptive output feedback controller is proposed by combining stochastic input-to-state stability with backstepping design technique. In stability analysis, it has been shown that the designed controller can guarantee that all closed-loop system signals are almost surely bounded and the original system states are globally asymptotically stable in probability. Finally, a simulation example is given to the validity of the proposed method.

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Output feedback exponential stabilization of uncertain chained systems

Cited by 113 publications

References 31 publications

Robust exponential stabilization of nonholonomic chained systems with unknown parameters

Robust exponential stabilization of nonholonomic chained systems with unknown parameters

Output-feedback control for nonholonomic systems with linear growth condition

Output feedback control of stochastic nonlinear systems based on extended state observer

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