Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

Abstract EN

This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays.

The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems.

An observer and an estimator are employed for states and parameters estimates, respectively.

A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach.

Simulation results are provided to show the effectiveness of the proposed method.