标题：Adaptive stabilization of High-order Nonholonomic Systems with Unknown Control Coefficients
作者：Zhang Jian; Liu Yungang
作者机构：[Zhang Jian; Liu Yungang] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China.
会议名称：30th Chinese Control Conference
会议日期：JUL 22-24, 2011
来源：2011 30TH CHINESE CONTROL CONFERENCE (CCC)
关键词：High-order nonholonomic system; Stabilizing adaptive control design;; Switching control strategy; Adding a power integrator
摘要：This paper solves the problem of globally stabilizing adaptive control design for a class of high-order nonholonomic systems, by skillfully using the discontinuous transformation of coordinates and the method of adding a power integrator. Compared with the existing literature, the control coefficients of the systems are unknown and no known constants can (lower and upper) bound them, and in the designed adaptive controller, only one updating law is needed to dynamically compensate the unknowns in the system control coefficients. A numerical simulation is provided to demonstrate the validness of the proposed method.