Adaptive control of a class of time-varying nonlinear systems via immersion and invariance

被引：0
|
作者：
Liang, Xu [1 ,2 ]
Su, Tingting [1 ,2 ]
Liu, Shengda [3 ]
He, Guangping [2 ]
机构：
[1] Beijing Univ Technol, Beijing, Peoples R China
[2] North China Univ Technol, Beijing 100144, Peoples R China
[3] Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
来源：
SCIENCE PROGRESS | 2022年 / 105卷 / 03期
基金：
中国博士后科学基金; 国家重点研发计划; 北京市自然科学基金;
关键词：
Immersion and invariance; adaptive control; nonlinear systems; time-varying systems; nonholonomy; OUTPUT-FEEDBACK CONTROL; TRACKING CONTROL; NONHOLONOMIC SYSTEMS; TRAJECTORY TRACKING; MECHANICAL SYSTEMS; MOBILE ROBOTS; STABILIZATION;
D O I：
10.1177/00368504221124750
中图分类号：
G40 [教育学];
学科分类号：
040101 ; 120403 ;
摘要：
This paper addresses the adaptive control of a class of time-varying nonlinear systems. Under the framework of Immersion and Invariance (I&I) adaptive control, a set of sufficient conditions is obtained to stabilize the concerned time-varying nonlinear systems. It is shown that the presented controller can also be utilized to complete tracking control for a class of nonholonomic constraint systems if the desired trajectories satisfy certain conditions. The effectiveness of the new adaptive controller is demonstrated by some numerical simulations on a nonholonomic mobile robot.
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页数：19
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