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Zbl 1214.93038
Gao, Fangzheng; Yuan, Fushun; Yao, Hejun
Robust adaptive control for nonholonomic systems with nonlinear parameterization. (English)
[J] Nonlinear Anal., Real World Appl. 11, No. 4, 3242-3250 (2010). ISSN 1468-1218

Summary: An adaptive controller is designed for a class of nonholonomic systems in chained form with nonlinear parameterization. The robust adaptive control law is developed using parameter separation, state scaling and backstepping technique. Global asymptotic regulation of the closed-loop system states is achieved. The proposed control based switching strategy is proposed to overcome the uncontrollability problem associated with $x_0(t_0)=0$.

MSC 2000:: *93B35 Sensitivity (robustness) of control systems
93C40 Adaptive control systems
70F25 Nonholonomic systems
93C10 Nonlinear control systems

Keywords: adaptive; nonholonomic systems; state scaling; nonlinear parameterization

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