GLOBAL OUTPUT FEEDBACK STABILIZATION FOR A CLASS OF UNCERTAIN NONHOLONOMIC SYSTEMS WITH PARTIAL INPUTS SATURATION

摘要

This paper investigates the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. Based on a novel reduced-order observer to estimate the unmeasured states, a constructive design procedure for output feedback control is presented by using input-state-scaling technique and backstepping recursive approach. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. The simulation results based on a practical example demonstrate the effectiveness of the proposed approach.