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Adaptive Output Feedback Control for Nonholonomic Chained Systems with Integral Input State Stability Inverse Dynamics

This paper investigates a class of nonholonomic chained systems with integral input-to-state stable (iISS) inverse dynamics subject to unknown virtual control directions and parameter uncertainty included in drift terms. First, the system is divided into two interconnected subsystems according to th...

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Principais autores: Yang Li, Linxing Xu, Xiuli Wang, Cunsong Wang
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2023-07-01
Serier:Sensors
Fag:
nonholonomic chained system
iISS inverse dynamics
input-state scaling
backstepping
switching control
reduced-order observer
Online adgang:https://www.mdpi.com/1424-8220/23/14/6351
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