Adaptive tracking control for nonholonomic Caplygin systems

This paper addresses the problem of designing adaptive tracking controls for nonholonomic Caplygin systems involving plant uncertainties and external disturbances. Both dynamic state (position and velocity) feedback as well as output (position) feedback tracking control laws are constructed to assure the tracking of the generalized coordinates. It is shown that the generalized coordinates asymptotically converge to a desired manifold in terms of L_∞ bound and H^∞ performance. Finally, simulation examples are presented to illustrate the tracking performance of the developed adaptive control algorithms