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

Author:

Cao Dianguo1ORCID,Chen Jiaqian1

Affiliation:

1. School of Engineering, Qufu Normal University, Rizhao, China

Abstract

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.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Reference33 articles.

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