Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
838388 | Nonlinear Analysis: Real World Applications | 2010 | 9 Pages |
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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Authors
Fangzheng Gao, Fushun Yuan, Hejun Yao,