Time-Varying Adaptive Control of Uncertain Dynamic Nonholonomic Systems
Dong Wenjie
Huo Wei
Abstract：This paper considers the stabilization problem of the dynamic nonholonomic systems with unknown constant inertia parameters.New periodic time-varying adaptive stabilizing laws are presented for a class of the systems.Unlike the feedback laws in other papers,they are not high-gain ones.The stabilization problem of the general uncertain dynamic nonholonomic system is also addressed,and the existence of the periodic time-varying adaptive stabilizing law is proved.Simulation results of an exapmle show that the approach is effective.
Keywords：dynamic nonholonomic systemsuncertain nonlinear systemsadaptive controlglobal stabilization
Publication Date：1999-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 325-328 )