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Abstract and Applied Analysis
Volume 2014 (2014), Article ID 623605, 9 pages
Research Article

Adaptive Output Feedback Stabilization of Nonholonomic Systems with Nonlinear Parameterization

1School of Software, Anyang Normal University, Anyang 455000, China
2School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China
3School of Mathematics and Physics, Suzhou University of Science and Technology, Suzhou 215009, China

Received 18 April 2014; Accepted 24 July 2014; Published 12 August 2014

Academic Editor: Janusz Brzdek

Copyright © 2014 Yanling Shang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the problem of adaptive output feedback stabilization for a class of nonholonomic systems with nonlinear parameterization and strong nonlinear drifts. A parameter separation technique is introduced to transform nonlinearly parameterized system into a linear-like parameterized system. Then, by using the integrator backstepping approach based on observer and parameter estimator, a constructive design procedure for output feedback adaptive control is given. And a switching strategy is developed to eliminate the phenomenon of uncontrollability. It is shown that, under some conditions, the proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.