控制理论(社会学)
反推
非完整系统
控制器(灌溉)
李雅普诺夫函数
观察员(物理)
理论(学习稳定性)
自适应控制
国家观察员
计算机科学
控制(管理)
数学
移动机器人
非线性系统
机器人
物理
量子力学
人工智能
机器学习
农学
生物
作者
Jie Zhang,Jing Yang,Zhongcai Zhang,Yuqiang Wu
标识
DOI:10.1177/01423312221111003
摘要
In this paper, an adaptive output feedback control scheme is introduced for nonholonomic systems with nonliner uncertainties, nonvanishing disturbances, and output constraints. A tan-type barrier Lyapunov function is considered to address asymmetric time-varying output constraints. We define the disturbance as the generalized system state. The extended state observer is proposed for uncertain external disturbance. A new estimator is designed for unknown parameter and states. It is shown that under the backstepping technique the output feedback adaptive controller ensures the stability of the closed loop system, while the asymmetric time-varying output constraints are not violated. The simulation results of mobile robot system are provided to validate the effectiveness of the presented control approach.
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