Adaptive output feedback stabilising control of uncertain chained-form non-holonomic systems

In this article, we investigate the global robust stabilisation problem for a class of uncertain chained-form non-holonomic systems. Three types of uncertainties are taken into account, including dynamic uncertainty, unknown control coefficients, and nonlinear parameterisation. Different from the existing works, the input-to-state stability (ISS) with unknown supply rates is used to characterise the system of dynamic uncertainty, and the magnitudes of the control coefficients are not required to be known a priori. The nonlinear parameterisation is well treated with the aid of a parameter separation technique. By constructing a switching control strategy, we propose a discontinuous adaptive stabilising control scheme via output feedback to overcome the serious uncertainties in the chained-form non-holonomic systems. The simulation results illustrate the effectiveness of the presented algorithm.