Adaptive exponential regulation of nonlinearly parameterized chained form systems

This paper deals with nonholonomic systems in chained form with nonlinear parameterization. The objective is to design adaptive nonlinear state feedback laws such that the closed-loop systems are globally exponentially regulated at the origin, while the estimated parameters remain bounded. The systematic strategy combines the parameter separation, input-state-scaling technique and integrator backstepping procedure. The efficiency and feasibility of the proposed method are demonstrated by practical example.