Output feedback stabilization for nonholonomic systems with unknown unmeasured states‐dependent growth

Abstract

SummaryThis paper is concerned with the global output feedback stabilization for a class of nonholonomic systems with unknown parameter, polynomial‐of‐output, and unmeasurable states dependent growth. A dynamic high‐gain observer is first designed to reconstruct the unmeasurable system states and, in addition, to compensate the serious parameter unknowns in nonlinear drifts. Then, we design a compact adaptive controller without invoking the backstepping technique, which reduces the complexity of controller. Additionally, a switching control strategy is employed to overcome the smooth feedback obstacle associated with nonholonomic systems. It is shown that the proposed control laws guarantee that all closed‐loop system states are globally bounded and ultimately converge to zero. The simulation results demonstrate the effectiveness of the proposed control strategy.