Adaptive Output Feedback Control for Nonholonomic Chained Systems with Integral Input State Stability Inverse...

Area of Science:

• Control Theory
• Nonholonomic Systems
• Robotics

Background:

• Nonholonomic chained systems present unique control challenges.
• Integral input-to-state stability (iISS) is crucial for robust system performance.
• Parameter uncertainty and unknown virtual control directions complicate controller design.

Purpose of the Study:

• To develop a control algorithm for nonholonomic chained systems with iISS inverse dynamics.
• To address unknown virtual control directions and parameter uncertainty in drift terms.
• To ensure finite escape-time and overall system stability.

Main Methods:

• System decomposition into two interconnected subsystems.
• Design of a controller using a switching strategy for finite escape-time.
• Integration of a reduced-order state observer and backstepping for adaptive control.
• Application of input-state scaling for enhanced stability analysis.

Main Results:

• A robust control algorithm is proposed for the specified class of systems.
• The developed adaptive law effectively handles parameter uncertainty.
• Simulation results demonstrate the successful implementation and stability of the control strategy.

Conclusions:

• The proposed control approach is feasible and effective for nonholonomic chained systems.
• The method provides a viable solution for systems with iISS inverse dynamics and uncertainties.
• This work contributes to the advancement of robust control design for complex dynamic systems.