Adaptive stabilizing control for a class of uncertain cascaded chained-form nonholonomic systems
In this article,we investigate the adaptive output feedback stabilizing control problem for a class of uncertain cascaded chained-form nonholonomic systems with unmodeled dynamics and unknown parameters.Using only the output information,we propose a novel adaptive output feedback stabilizing control scheme with the help of a dynamic gain ob-server and the adaptive estimator.The backstepping recursive method plays a key role in this procedure.Additionally,a switching adaptive control strategy is developed to get around the continuous stabilization burden associated with nonholo-nomic systems.The proposed control scheme guarantees the system states in closed-loop system converge to the origin.The simulation results illustrate the efficacy of the presented algorithm.
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