文章基本信息

标题：Asymptotic Stabilization for a Class of Output-Constrained Nonholonomic Systems
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作者：Fangzheng Gao ; Fangzheng Gao ; Yuqing Wu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：754-759
DOI：10.1016/j.ifacol.2016.10.256
语种：English
出版社：Elsevier
摘要：Abstract: This paper addresses the problem of asymptotic stabilization for a class of nonholonomic systems in chained form with output constraint. A nonlinear mapping is first introduced to transform the output-constrained system into a new unconstrained one. Then, by employing the backstepping technique and switching control strategy, a state feedback controller is successfully constructed to guarantee that the states of closed-loop system are asymptotically regulated to zero without violation of the constraint. A simulation example is provided to demonstrate the effectiveness of the proposed method.
关键词：KeywordsNonholonomic systemsoutput constraintnonlinear mappingbackstepping