Adaptive stabilization of uncertain nonholonomic mechanical systems

摘要

This paper presents a new adaptive controller as a solution to the problem of stabilizing nonholonomic mechanical systems in the presence of incomplete information concerning the system dynamic model. The proposed control system consists of two subsystems: a slightly modified version of the kinematic stabilization strategy of M'Closkey and Murray which generates a desired velocity trajectory for the nonholonomic system and an adaptive control scheme which enbsures that this velocity trajectory is accurately tracked.