Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
文献类型：期刊论文
| 作者 | Liang, Xu1,2 ; Su, Tingting1,2; Liu, Shengda3; He, Guangping2
|
| 刊名 | SCIENCE PROGRESS
 |
| 出版日期 | 2022-07-01 |
| 卷号 | 105期号:3页码:19 |
| 关键词 | Immersion and invariance adaptive control nonlinear systems time-varying systems nonholonomy |
| ISSN号 | 0036-8504 |
| DOI | 10.1177/00368504221124750 |
| 通讯作者 | He, Guangping(hegp55@ncut.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | OUTPUT-FEEDBACK CONTROL ; TRACKING CONTROL ; NONHOLONOMIC SYSTEMS ; TRAJECTORY TRACKING ; MECHANICAL SYSTEMS ; MOBILE ROBOTS ; STABILIZATION |
| 资助项目 | National Key R&D Program of China[2019YFB1309603] ; Natural Science Foundation of China[62003005] ; Natural Science Foundation of China[62103007] ; Beijing Natural Science Foundation[L202020] ; R&D Program of Beijing Municipal Education Commission[KM202110009009] ; R&D Program of Beijing Municipal Education Commission[KZ202010009015] ; R&D Program of Beijing Municipal Education Commission[KM202210009010] ; China Postdoctoral Science Foundation[2021M693404] ; Yuyou Talent Support Project of North China University of Technology ; Fundamental Research Funds for Beijing Municipal Universities |
| WOS研究方向 | Education & Educational Research ; Science & Technology - Other Topics |
| 语种 | 英语 |
| WOS记录号 | WOS:000863092600001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 资助机构 | National Key R&D Program of China ; Natural Science Foundation of China ; Beijing Natural Science Foundation ; R&D Program of Beijing Municipal Education Commission ; China Postdoctoral Science Foundation ; Yuyou Talent Support Project of North China University of Technology ; Fundamental Research Funds for Beijing Municipal Universities |
| 源URL | [http://ir.ia.ac.cn/handle/173211/50403]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | He, Guangping |
| 作者单位 | 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 |
| 推荐引用方式 GB/T 7714 | Liang, Xu,Su, Tingting,Liu, Shengda,et al. Adaptive control of a class of time-varying nonlinear systems via immersion and invariance[J]. SCIENCE PROGRESS,2022,105(3):19. |
| APA | Liang, Xu,Su, Tingting,Liu, Shengda,&He, Guangping.(2022).Adaptive control of a class of time-varying nonlinear systems via immersion and invariance.SCIENCE PROGRESS,105(3),19. |
| MLA | Liang, Xu,et al."Adaptive control of a class of time-varying nonlinear systems via immersion and invariance".SCIENCE PROGRESS 105.3(2022):19. |
入库方式： OAI收割
来源：自动化研究所
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