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Abstract and Applied Analysis
Volume 2014, Article ID 650835, 17 pages
Research Article

Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

1College of Electric and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan 450002, China
2Department of Mathematics, Southeast University, Nanjing, Jiangsu 210096, China
3Research Institute of Automation, Qufu Normal University, Qufu, Shandong 273165, China
4College of Mathematics and Information Science, Zhengzhou University of Light Industry, Zhengzhou, Henan 450002, China

Received 23 January 2014; Accepted 15 April 2014; Published 12 May 2014

Academic Editor: Hao Shen

Copyright © 2014 Yuanyuan Wu 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 output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.