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Robust adaptive control of nonholonomic systems with uncertainties |
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| Authors: | Mu Xiao-wu Yu Ji-min Bi Wei-ping Cheng Dai-zhan |
| Affiliation: | 1. Department of Systems Science and Mathematics, Zhengzhou University, Zhengzhou 450052, P.R.China;2. Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100080, P.R.China |
| Abstract: | Robust adaptive control of nonholonomic systems in chained form with linearly parameterized and strongly nonlinear disturbance and drift terms is dicussed.The novelty of the proposed method is a combined use of the state-scaling and the back-stepping procedure. |
| Keywords: | nonholonomic system adaptive control stability |
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