High gain adaptive control of uncertain nonholonomic dynamic systems

Abstract

In this paper, a high gain adaptive control is investigated for nonholonomic systems with unknown system parameters and unbounded dynamic uncertainties and/or disturbances. The designed adaptive controller is rather simple and has high robustness for bounded unknown uncertainties and disturbances, since it is designed based on high gain feedback and has only one adaptive adjusting term. The application of this controller to a nonholonomic wheeled mobile robot is considered as an illustrative example.