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Robust adaptive control for nonholonomic systems with nonlinear parameterization. (English) Zbl 1214.93038
Summary: 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 x 0 (t 0 )=0.
MSC:
93B35Sensitivity (robustness) of control systems
93C40Adaptive control systems
70F25Nonholonomic systems (particle dynamics)
93C10Nonlinear control systems