This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.
"Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems." Abstr. Appl. Anal. 2014 (SI63) 1 - 17, 2014. https://doi.org/10.1155/2014/650835