Adaptive robust control of nonholonomic systems using a switching approach

This paper investigates the problem of robust adaptive control for a class of nonholonomic systems in chained form with strong nonlinear drifts and unknown nonlinear parameters. Combining the parameter separation technique with the feedback domination design, a solution to the problem of global-adaptive control for the uncertain nonholonomic systems is obtained and a switching strategy is developed to eliminate the terms of uncontrollability. The presented adaptive control algorithm guarantees that all the states converge to the origin and other variables are bounded.