Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/84220
Title: Stabilization of uncertain nonholonomic systems using adaptive backstepping technique
Authors: Ge, S.S. 
Wang, Z.P. 
Lee, T.H. 
Issue Date: 2002
Source: Ge, S.S.,Wang, Z.P.,Lee, T.H. (2002). Stabilization of uncertain nonholonomic systems using adaptive backstepping technique. IEEE International Symposium on Intelligent Control - Proceedings : 862-867. ScholarBank@NUS Repository.
Abstract: This paper presents control strategy for stabilization of a class of nonholonomic systems in chained form with nonlinear drift uncertainties. The stabilizing control laws are developed for these systems based on the adaptive backstepping technique. The proposed control strategy guarantees that all the system states globally converge to the origin, and the estimated parameters are guaranteed to be bounded simultaneously. A switching control strategy is employed to overcome the uncontrollability caused by the zero initial condition of x0-subsystem. The simulation results demonstrate the global convergence of the proposed controllers in the paper.
Source Title: IEEE International Symposium on Intelligent Control - Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/84220
Appears in Collections:Staff Publications

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