TY - GEN
T1 - Disturbance attenuation of uncertain nonholonomic systems in chained forms
AU - Guo, Yi
PY - 2006
Y1 - 2006
N2 - Nonlinear H∞ control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an ℒ2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive control of uncertain nonholonomic systems are extended to include external disturbance inputs. An simulation example shows the effectiveness of the proposed control schemes.
AB - Nonlinear H∞ control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an ℒ2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive control of uncertain nonholonomic systems are extended to include external disturbance inputs. An simulation example shows the effectiveness of the proposed control schemes.
KW - Backstepping
KW - Disturbance attenuation
KW - Nonholonomic systems
KW - Nonlinear control
KW - ℒ gain
UR - https://www.scopus.com/pages/publications/34047232747
UR - https://www.scopus.com/pages/publications/34047232747#tab=citedBy
U2 - 10.1109/WCICA.2006.1712347
DO - 10.1109/WCICA.2006.1712347
M3 - Conference contribution
SN - 1424403324
SN - 9781424403325
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 403
EP - 407
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
T2 - 6th World Congress on Intelligent Control and Automation, WCICA 2006
Y2 - 21 June 2006 through 23 June 2006
ER -