Partial-state feedback adaptive stabilization for a class of uncertain nonholonomic systems

In this paper, we investigate the global adaptive stabilization problem via partial-state feedback for a class of uncertain chained-form nonholonomic systems with the dynamic uncertainty and nonlinear parameterization. The notions of Sontag's input-to-state stability (ISS) and ISS-Lyapunov function, together with the changing supply rates technique are used to overcome the dynamic uncertainty. The nonlinear parameterization is well treated with the aid of the parameter separation technique. The discontinuous input-to-state scaling technique is employed in this procedure to derive the global stabilization controllers. Additionally, we develop a switching adaptive control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm.