Adaptive stabilizing control for a class of uncertain cascaded chained-form nonholonomic systems
YU Jiang-bo
ZHAO Yan
TIAN Jie
Abstract：In this article,we investigate the adaptive output feedback stabilizing control problem for a class of uncertain cascaded chained-form nonholonomic systems with unmodeled dynamics and unknown parameters.Using only the output information,we propose a novel adaptive output feedback stabilizing control scheme with the help of a dynamic gain ob-server and the adaptive estimator.The backstepping recursive method plays a key role in this procedure.Additionally,a switching adaptive control strategy is developed to get around the continuous stabilization burden associated with nonholo-nomic systems.The proposed control scheme guarantees the system states in closed-loop system converge to the origin.The simulation results illustrate the efficacy of the presented algorithm.
Keywords：nonholonomic systemsoutput feedbackdynamic uncertaintyadaptive controlinput-to-state stable(ISS)
Publication Date：2024-08-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 1495-1500 )