Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties

This study investigates the global output feedback stabilization problem for one type of the nonholonomic system with nonvanishing external disturbances. An extended state observer (ESO) is constructed in order to estimate the external disturbance and unmeasurable system states, in which the externa...

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Autores principales:	Dianguo Cao, Jiaqian Chen
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/5b708f062f1a4fcaa819a29f8e7825c8
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spelling	oai:doaj.org-article:5b708f062f1a4fcaa819a29f8e7825c82021-11-29T00:56:47ZDesign of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties1563-514710.1155/2021/9941611https://doaj.org/article/5b708f062f1a4fcaa819a29f8e7825c82021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/9941611https://doaj.org/toc/1563-5147This study investigates the global output feedback stabilization problem for one type of the nonholonomic system with nonvanishing external disturbances. An extended state observer (ESO) is constructed in order to estimate the external disturbance and unmeasurable system states, in which the external disturbance term is seen as a general state. Thus, a new generalized error dynamic system is obtained. Accordingly, a disturbance rejection controller is designed by making use of the backstepping technique. A control law is given to ensure that all the signals in the closed-loop system are globally bounded, while the system states converge to an equilibrium point. The simulation example is proposed to verify that the control algorithm is effective.Dianguo CaoJiaqian ChenHindawi LimitedarticleEngineering (General). Civil engineering (General)TA1-2040MathematicsQA1-939ENMathematical Problems in Engineering, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939
spellingShingle	Engineering (General). Civil engineering (General) TA1-2040 Mathematics QA1-939 Dianguo Cao Jiaqian Chen Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
description	This study investigates the global output feedback stabilization problem for one type of the nonholonomic system with nonvanishing external disturbances. An extended state observer (ESO) is constructed in order to estimate the external disturbance and unmeasurable system states, in which the external disturbance term is seen as a general state. Thus, a new generalized error dynamic system is obtained. Accordingly, a disturbance rejection controller is designed by making use of the backstepping technique. A control law is given to ensure that all the signals in the closed-loop system are globally bounded, while the system states converge to an equilibrium point. The simulation example is proposed to verify that the control algorithm is effective.
format	article
author	Dianguo Cao Jiaqian Chen
author_facet	Dianguo Cao Jiaqian Chen
author_sort	Dianguo Cao
title	Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
title_short	Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
title_full	Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
title_fullStr	Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
title_full_unstemmed	Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
title_sort	design of a disturbance rejection controller for a class of nonholonomic systems with uncertainties
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/5b708f062f1a4fcaa819a29f8e7825c8
work_keys_str_mv	AT dianguocao designofadisturbancerejectioncontrollerforaclassofnonholonomicsystemswithuncertainties AT jiaqianchen designofadisturbancerejectioncontrollerforaclassofnonholonomicsystemswithuncertainties
_version_	1718407645459644416

Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties

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