Adaptive H∞ control of nonholonomic systems with strong nonlinear drifts

摘要

In this paper, adaptive H1 control is considered for uncertain nonholonomic systems in chained form with external disturbances and strong nonlinear drifts. The state-scaling and backstepping technique are applied to design the global adaptive controller and a switching strategy is developed to eliminate the phenomenon of uncontrollability. The proposed controller guarantees the effect from external disturbance to the system output in sense of L2 gain arbitrarily small. Without the presence of the disturbance, the system states are asymptotically regulated to the origin. An simulation example shows the effectiveness of the proposed control schemes.