Applied Mathematics and Mechanics (English Edition) ›› 2004, Vol. 25 ›› Issue (3): 329-337.

• Articles • Previous Articles     Next Articles

ROBUST ADAPTIVE CONTROL OF NONHOLONOMIC SYSTEMS WITH UNCERTAINTIES

MU Xiao-wu1, YU Ji-min1, BI Wei-ping1, CHENG Dai-zhan2   

  1. 1. Department of Systems Science and Mathematics, Zhengzhou University, Zhengzhou 450052, P.R.China;
    2. Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100080, P.R.China
  • Received:2002-01-21 Revised:2003-09-26 Online:2004-03-18 Published:2004-03-18

Abstract: Robust adaptive control of nonholonomic systems in chained form with linearly parameterized and strongly nonlinear disturbance and drift terms is dicussed.The novelty of the proposed method is a combined use of the state-scaling and the back-stepping procedure.

2010 MSC Number: 

APS Journals | CSTAM Journals | AMS Journals | EMS Journals | ASME Journals