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Mathematical Problems in Engineering
Volume 2013, Article ID 427137, 10 pages
Research Article

Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients

School of Automation, Southeast University, Nanjing, Jiangsu 210096, China

Received 28 April 2013; Accepted 18 June 2013

Academic Editor: Yuqiang Wu

Copyright © 2013 Yan Zhao. 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 global stabilization problem for a class of high-order nonholonomic systems with unknown control coefficients and uncertain nonlinearities. An adaptive sliding mode control (SMC) law based on a constructive manipulation is proposed by adding a power integrator technique. A switching control strategy is employed in the control scheme to overcome the uncontrollability problem associated with the nonholonomic systems. The designed sliding mode controller could guarantee the attractiveness of the sliding surface and achieve the asymptotical convergence of the state as well as the boundedness of the estimated parameters. A simulation example is provided to demonstrate the effectiveness of the proposed scheme.