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A controller design is proposed for a class of high order nonholonomic systems with unknown control direction. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates...
This paper deals with the stabilization problem for the stochastic nonholonomic systems with unknown stochastic disturbances and unknown control directions. The switching control strategy based on the output measurement of the first subsystem is employed to achieve the asymptotic stabilization. Thereby, the integrator backstepping technique based on a constructive manipulation is applied to the design...
This paper deals with the output feedback stabilization problem for the stochastic nonholonomic systems with unknown stochastic disturbances. The objective is to design the almost global asymptotical output feedback controllers in probability for the systems by using discontinuous control. The switching control strategy based on the output measurement of the first subsystem is employed to achieve...
The adaptive output feedback control strategy is presented for a class of nonholonomic systems in chained form with nonlinearity uncertainties. A new observer and a filter are introduced for the states and parameter estimation. The proposed control strategies guarantee the convergence of the closed-loop system. The simulation example demonstrates the efficiency of the proposed method.
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