Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
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...
Paper Details
Title
Design of a Disturbance Rejection Controller for a Class of Nonholonomic Systems with Uncertainties
Published Date
Nov 18, 2021
Volume
2021
Pages
1 - 15
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