Adaptive Exponential Regulation of High Order Nonholonomic Systems with Strong Nonlinear Drifts

摘要

This paper deals with high order nonholonomic systems in power chained form with strong nonlinear drifts, including unmodeled dynamics, external disturbances and nonlinear parameterization. The objective is to design a robust adaptive state feedback law such that the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with nonholonomic systems. The systematic strategy combines the input-state-scaling technique with the so-called adding a power integrator backstepping. The simulation result demonstrates the efficiency and robust features of the proposed method.