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Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
Liang, Xu1,2; Su, Tingting1,2; Liu, Shengda3; He, Guangping2
Source PublicationSCIENCE PROGRESS
ISSN0036-8504
2022-07-01
Volume105Issue:3Pages:19
Corresponding AuthorHe, Guangping(hegp55@ncut.edu.cn)
AbstractThis 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.
KeywordImmersion and invariance adaptive control nonlinear systems time-varying systems nonholonomy
DOI10.1177/00368504221124750
WOS KeywordOUTPUT-FEEDBACK CONTROL ; TRACKING CONTROL ; NONHOLONOMIC SYSTEMS ; TRAJECTORY TRACKING ; MECHANICAL SYSTEMS ; MOBILE ROBOTS ; STABILIZATION
Indexed BySCI
Language英语
Funding ProjectNational 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
Funding OrganizationNational 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
WOS Research AreaEducation & Educational Research ; Science & Technology - Other Topics
WOS SubjectEducation, Scientific Disciplines ; Multidisciplinary Sciences
WOS IDWOS:000863092600001
PublisherSAGE PUBLICATIONS LTD
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/50404
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorHe, Guangping
Affiliation1.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
Recommended Citation
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.
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