GLOBAL OUTPUT FEEDBACK STABILIZATION FOR A CLASS OF UNCERTAIN NONHOLONOMIC SYSTEMS WITH PARTIAL INPUTS SATURATION

Yanling Shang, Fangzheng Gao, and Yuqiang Wu

Keywords

Nonholonomic systems, partial inputs saturation, back stepping,output feedback, global stabilization

Abstract

This paper investigates the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. Based on a novel reduced-order observer to estimate the unmeasured states, a constructive design procedure for output feedback control is presented by using input-state-scaling technique and backstepping recursive approach. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. The simulation results based on a practical example demonstrate the effectiveness of the proposed approach.

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