Adaptive stabilization of a class of high-order uncertain nonholonomic systems with unknown control coefficients

2012 ◽  
Vol 27 (5) ◽  
pp. 368-385 ◽  
Author(s):  
Jian Zhang ◽  
Yungang Liu
Keyword(s):  
Nonholonomic Systems ◽  
High Order ◽  
Adaptive Stabilization ◽  
Unknown Control Coefficients ◽  
Unknown Control ◽  
Control Coefficients

scholarly journals Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Yan Zhao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Nonholonomic Systems ◽  
High Order ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Unknown Control Coefficients ◽  
Unknown Control ◽  
Control Coefficients

This paper investigates the global stabilization problem for a class of high-order nonholonomic systems with unknown control coefficients and uncertain nonlinearities. An adaptive sliding mode control (SMC) law based on a constructive manipulation is proposed by adding a power integrator technique. A switching control strategy is employed in the control scheme to overcome the uncontrollability problem associated with the nonholonomic systems. The designed sliding mode controller could guarantee the attractiveness of the sliding surfaceS=0and achieve the asymptotical convergence of the state as well as the boundedness of the estimated parameters. A simulation example is provided to demonstrate the effectiveness of the proposed scheme.

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