Output feedback control based on extended state observer for nonholonomic systems

The adaptive output feedback controller is proposed for nonholonomic systems with nonlinear uncertainties and external disturbances. The disturbance is as the generalized system state. An extended state observer is designed for the uncertain external disturbance in order to ensure the global asymptotical stability of the closed loop system. A novel observer / estimator is introduced for state and unknown parameter estimates. The integrator backstepping technique based on a constructive recursive is applied to the design of the output feedback adaptive controller. The numeric simulation example validates the effectiveness of the proposed method.