Adaptive Exponential Stabilization of Chained Form Systems with Application to Mobile Robot

摘要

This paper investigates the adaptive stabilization problem for chained form systems with strong nonlinear drifts. A parameter separation technique is introduced to transform the nonlinear parameterized system into a linear-like parameterized system. Then, using the parameter separation, input-state-scaling technique and integrator backstepping procedure, an adaptive state feedback controller is obtained. The adaptive control based switching strategy is proposed to eliminate the phenomenon of uncontrollability. Global exponential regulation of the closed-loop system and the boundedness of other signals are guaranteed. The proposed scheme can be applied to the adaptive control of mobile robot with small angle measurement error. Simulation results demonstrate the validity of the presented algorithm.