期刊名称：International Journal of Intelligent Control and Systems
印刷版ISSN：0218-7965
出版年度：2005
卷号：10
期号：4
页码：304-309
出版社：Westing Publishing Co., Fremont
摘要：Nonlinear H∞ control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an L2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive control of uncertain nonholonomic systems are extended to include external disturbance inputs. A simulation example shows the effectiveness of the proposed control schemes.
