Adaptive stabilization of nonholonomic systems with unknown virtual control coefficients and nonlinear drifts

This work presents control strategies for stabilization of a class of nonholonomic systems in chained form with unknown virtual control coefficients and nonlinear drift with parametric uncertainties. The stabilizing control laws are developed for these systems based on the adaptive backstepping technique. The proposed control strategies can steer the system globally converge to the origin, while the estimated parameters maintain bounded. The simulation results demonstrate the global convergence of the proposed controllers in the paper when the systems are subjected to uncertain disturbances.