Adaptive global stabilization of nonholonomic systems with strong nonlinear drifts

Duc Do, Jie Pan

Research output: Contribution to journalArticle

67 Citations (Scopus)

Abstract

A new input-to-state scaling scheme is first introduced to transform a class of nonholonomic systems in a chained form with strong nonlinear drifts and unknown constant parameters into a strict feedback form. The backstepping technique is then applied to design a global adaptive stabilization controller, A switching strategy based on the control input magnitude rather than the time is derived to get around the phenomenon of uncontrollability. Simulation examples validate the effectiveness of the proposed controller. (C) 2002 Elsevier Science B.V. All rights reserved.
Original languageEnglish
Pages (from-to)195-205
JournalSystems & Control Letters
Volume46
DOIs
Publication statusPublished - 2002

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