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Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

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  • Yuanyuan Wu
  • Zicheng Wang
  • Yuqiang Wu
  • Qingbo Li

Abstract

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.

Suggested Citation

  • Yuanyuan Wu & Zicheng Wang & Yuqiang Wu & Qingbo Li, 2014. "Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems," Abstract and Applied Analysis, Hindawi, vol. 2014, pages 1-17, May.
    • Handle: RePEc:hin:jnlaaa:650835
    DOI: 10.1155/2014/650835
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