Adaptive stabilization of nonholonomic systems with unknown virtual control coefficients and nonlinear drifts

2005 ◽  
Author(s):  
Z.P. Wang ◽  
S.S. Ge ◽  
T.H. Lee
Keyword(s):  
Nonholonomic Systems ◽  
Adaptive Stabilization ◽  
Virtual Control ◽  
Control Coefficients

scholarly journals Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-14
Author(s):  
Yuanyuan Wu ◽  
Qingbo Li ◽  
Yuqiang Wu
Keyword(s):  
Time Delays ◽  
State Feedback ◽  
Nonholonomic Systems ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Nonlinear Uncertainties ◽  
Adaptive Control Strategy ◽  
Unknown Time Delays ◽  
Nonlinear State ◽  
Control Coefficients

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.

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