Adaptive stabilization of state-constrained uncertain nonholonomic system via dynamic surface control

摘要

In this presented work, a systematic adaptive stabilization control strategy is proposed for nonholonomic system with parametric uncertainties and full-state constraints. To facilitate the handling of state constraints, the original constrained nonholonomic system is converted into a new unconstrained system by state-dependent function transformations including discontinuous state scalings. The adaptive control algorithm is elaborated by cleverly combing the tuning function design approach with switching control strategy. In stability analysis, it is shown that the designed stabilization control method can realize the desired stabilization control aims and full-state constraints. Simulation is carried out to demonstrate the effectiveness of the control scheme.