Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/69228
Title: Adaptive stabilization of nonholonomic systems with unknown virtual control coefficients and nonlinear drifts
Authors: Wang, Z.P. 
Ge, S.S. 
Lee, T.H. 
Issue Date: 2004
Source: Wang, Z.P.,Ge, S.S.,Lee, T.H. (2004). Adaptive stabilization of nonholonomic systems with unknown virtual control coefficients and nonlinear drifts. IEEE International Symposium on Intelligent Control - Proceedings : 281-286. ScholarBank@NUS Repository.
Abstract: This paper presents control strategies for stabilization of a class of nonholonomic systems in chained form with unknown virtual control coefficients and nonlinear drift with parametric uncertainties. The stabilizing control laws are developed for these systems based on the adaptive backstepping technique. The proposed control strategies can steer the system globally converge to the origin, while the estimated parameters maintain bounded. The simulation results demonstrate the global convergence of the proposed controllers in the paper when the systems are subjected to uncertain disturbances. ©2004 IEEE.
Source Title: IEEE International Symposium on Intelligent Control - Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/69228
Appears in Collections:Staff Publications

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