Adaptive output feedback control for nonholonomic systems with uncertain chained form

Abstract

The output feedback adaptive control problem is investigated for nonholonomic systems with strongly nonlinear uncertainties and unknown virtual control directions. A nonlinear output feedback switching controller based on the output measurement of the first subsystem is employed in order to make the state scaling effective and ensure the convergence of the system states. The novel observer/estimator is introduced for state and unknown parameter estimates. The integrator backstepping technique by the use of a constructive recursive is applied to the design of the adaptive controller and to overcome the unknown virtual control directions. The simulation result validates the effectiveness of the proposed scheme.

Keywords:

• nonholonomic systems
• unknown virtual control directions
• output feedback adaptive control
• switching controller

Acknowledgements

This study was supported by the National Science Foundation of China under grant numbers (60674027, 60974127, 60904022) and the Key Project of Education Ministry of China (208074).