Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients

Yan Zhao
2013 Mathematical Problems in Engineering  
This paper investigates the global stabilization problem for a class of high-order nonholonomic systems with unknown control coefficients and uncertain nonlinearities. An adaptive sliding mode control (SMC) law based on a constructive manipulation is proposed by adding a power integrator technique. A switching control strategy is employed in the control scheme to overcome the uncontrollability problem associated with the nonholonomic systems. The designed sliding mode controller could guarantee
more » ... ler could guarantee the attractiveness of the sliding surfaceS=0and achieve the asymptotical convergence of the state as well as the boundedness of the estimated parameters. A simulation example is provided to demonstrate the effectiveness of the proposed scheme.
doi:10.1155/2013/427137 fatcat:skfzsakzjrfhjdfftaldllgsxu