Backstepping-based adaptive controllers for uncertain nonholonomic systems

Z. P. Jiang; J. B. Pomet

Backstepping-based adaptive controllers for uncertain nonholonomic systems

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper presents an application of the integrator backstepping method to a linearly parametrized class of multi-input nonholonomic systems. A globally stabilizing adaptive time-varying controller is designed. An extension to cover a nonlinearly parametrized class is also considered by means of the classical Speed-Gradient methodology.

Original language	English (US)
Pages (from-to)	1573-1578
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2
State	Published - 1995
Event	Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA Duration: Dec 13 1995 → Dec 15 1995

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Cite this

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title = "Backstepping-based adaptive controllers for uncertain nonholonomic systems",

abstract = "This paper presents an application of the integrator backstepping method to a linearly parametrized class of multi-input nonholonomic systems. A globally stabilizing adaptive time-varying controller is designed. An extension to cover a nonlinearly parametrized class is also considered by means of the classical Speed-Gradient methodology.",

author = "Jiang, {Z. P.} and Pomet, {J. B.}",

year = "1995",

language = "English (US)",

volume = "2",

pages = "1573--1578",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) ; Conference date: 13-12-1995 Through 15-12-1995",

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T1 - Backstepping-based adaptive controllers for uncertain nonholonomic systems

AU - Jiang, Z. P.

AU - Pomet, J. B.

PY - 1995

Y1 - 1995

N2 - This paper presents an application of the integrator backstepping method to a linearly parametrized class of multi-input nonholonomic systems. A globally stabilizing adaptive time-varying controller is designed. An extension to cover a nonlinearly parametrized class is also considered by means of the classical Speed-Gradient methodology.

AB - This paper presents an application of the integrator backstepping method to a linearly parametrized class of multi-input nonholonomic systems. A globally stabilizing adaptive time-varying controller is designed. An extension to cover a nonlinearly parametrized class is also considered by means of the classical Speed-Gradient methodology.

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M3 - Conference article

AN - SCOPUS:0029540579

SN - 0191-2216

VL - 2

SP - 1573

EP - 1578

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)

Y2 - 13 December 1995 through 15 December 1995

ER -

Backstepping-based adaptive controllers for uncertain nonholonomic systems

Abstract

ASJC Scopus subject areas

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