Adaptive Stabilization for Nonholonomic Systems with Unknown Time Delays

Yuanyuan Wu, Qingbo Li and Yuqiang Wu

Mathematical Problems in Engineering, 2013, vol. 2013, 1-14

Abstract:

This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays. State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, which can guarantee the stabilization of the closed-loop systems. The simulation results are provided to show the effectiveness of the proposed method.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:520390

DOI: 10.1155/2013/520390

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