Output feedback control for mobile robot systems with significant external disturbances

查看全文 作　　者：Kang [1,2]WU;Jinya [2,1]SU;Changyin [1]SUN

机构地区：[1]Key Laboratory of Measurement and Control of CSE,Ministry ofEducation,School of Automation,Southeast University,Nanjing 210096,China;[2]Department of Aeronautical and Automotive Engineering,Loughborough University,Loughborough LE113TU,UK

出　　处：《Science China(Information Sciences)》索引2020年第63卷第9期,共3页

基　　金：National Natural Science Foundation of China(Grant Nos.61673243,U1713209);Ministry of Education Key Laboratory of Measurement and Control of CSE(Grant No.MCCSE2017A0)。 摘　　要：Dear editor,The control of nonholonomic systems,like those describing mobile robots,has attracted considerable research attention in recent decades owing to its theoretical and practical importance.Brockett’s theorem states that nonholonomic systems cannot be stabilized to an equilibrium point by any source of smooth or continuous state feedback.Additionally,the required accuracy of measuring the system states is often unachievable in practice.These factors introduce considerable difficulty to the problem of controlling mobile robots and other nonholonomic systems. 关键词：NONHOLONOMIC DIFFICULTY STABILIZED

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Output feedback control for mobile robot systems with significant external disturbances

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