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Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

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  • Yuanyuan Wu
  • Qingbo Li
  • Yuqiang Wu

Abstract

This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays. State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, which can guarantee the stabilization of the closed-loop systems. The simulation results are provided to show the effectiveness of the proposed method.

Suggested Citation

  • Yuanyuan Wu & Qingbo Li & Yuqiang Wu, 2013. "Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-14, December.
    • Handle: RePEc:hin:jnlmpe:520390
    DOI: 10.1155/2013/520390
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