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		Xiuyun ZHENG,Yuqiang WU.[en_title][J].Control Theory and Technology,2009,7(4):459~463.[Copy]

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XiuyunZHENG,YuqiangWU
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Received:August 18, 2007Revised:August 05, 2008

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Adaptive stabilization of uncertain nonholonomic systems by output feedback

Xiuyun ZHENG, Yuqiang WU

(Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China)

Abstract:

The adaptive output feedback control strategy is presented for a class of nonholonomic systems in chained form with nonlinearity uncertainties. A new observer and a filter are introduced for the states and parameter estimation. The proposed control strategies guarantee the convergence of the closed-loop system. The simulation example demonstrates the efficiency of the proposed method.

Key words: Nonholonomic systems Backstepping Switching control strategy Adaptive stabilization