Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

Abstract EN

This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays.

State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, whichcan guarantee the stabilization of the closed-loop systems.

The simulation results are provided to show the effectiveness of the proposed method.