Backstepping based nonlinear adaptive control for the extended nonholonomic double integrator
Waseem Abbasi; Fazal urRehman; Ibrahim Shah
Kybernetika (2017)
- Volume: 53, Issue: 4, page 578-594
- ISSN: 0023-5954
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topAbbasi, Waseem, urRehman, Fazal, and Shah, Ibrahim. "Backstepping based nonlinear adaptive control for the extended nonholonomic double integrator." Kybernetika 53.4 (2017): 578-594. <http://eudml.org/doc/294516>.
@article{Abbasi2017,
abstract = {In this paper a steering control algorithm for the Extended Nonholonomic Double Integrator is presented. An adaptive backstepping based controller is proposed which yields asymptotic stabilization and convergence of the closed loop system to the origin. This is achieved by transforming the original system into a new system which can be globally asymptotically stabilized. Once the new system is stabilized, the stability of the original system can be easily established. Stability of the closed loop system is analyzed on the basis of Lyapunov theory. The effectiveness of the proposed control algorithm is verified through numerical simulation and the results are compared to existing methods.},
author = {Abbasi, Waseem, urRehman, Fazal, Shah, Ibrahim},
journal = {Kybernetika},
keywords = {nonholonomic systems; feedback stabilization; systems with drift; adaptive backstepping; Lyapunov function},
language = {eng},
number = {4},
pages = {578-594},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Backstepping based nonlinear adaptive control for the extended nonholonomic double integrator},
url = {http://eudml.org/doc/294516},
volume = {53},
year = {2017},
}
TY - JOUR
AU - Abbasi, Waseem
AU - urRehman, Fazal
AU - Shah, Ibrahim
TI - Backstepping based nonlinear adaptive control for the extended nonholonomic double integrator
JO - Kybernetika
PY - 2017
PB - Institute of Information Theory and Automation AS CR
VL - 53
IS - 4
SP - 578
EP - 594
AB - In this paper a steering control algorithm for the Extended Nonholonomic Double Integrator is presented. An adaptive backstepping based controller is proposed which yields asymptotic stabilization and convergence of the closed loop system to the origin. This is achieved by transforming the original system into a new system which can be globally asymptotically stabilized. Once the new system is stabilized, the stability of the original system can be easily established. Stability of the closed loop system is analyzed on the basis of Lyapunov theory. The effectiveness of the proposed control algorithm is verified through numerical simulation and the results are compared to existing methods.
LA - eng
KW - nonholonomic systems; feedback stabilization; systems with drift; adaptive backstepping; Lyapunov function
UR - http://eudml.org/doc/294516
ER -
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