Adaptive stabilization of high order nonholonomic systems with nonlinear parameterization

In this paper, an adaptive state feedback control strategy is presented for a class of high order nonholonomic systems in power chained form with strong nonlinear drifts and nonlinear parameterization. The robust adaptive control laws are developed using parameter separation, input-state-scaling and adding a power integrator backstepping technique. The adaptive control based switching strategy is proposed to overcome the uncontrollability problem associated with x₀(t₀) = 0. Global asymptotic regulation of the closed-loop system states is guaranteed.