Article ID Journal Published Year Pages File Type
838388 Nonlinear Analysis: Real World Applications 2010 9 Pages PDF
Abstract

In this paper, an adaptive controller is designed for a class of nonholonomic systems in chained form with nonlinear parameterization. The robust adaptive control law is developed using parameter separation, state scaling and backstepping technique. Global asymptotic regulation of the closed-loop system states is achieved. The proposed control based switching strategy is proposed to overcome the uncontrollability problem associated with x0(t0)=0x0(t0)=0.

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