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Adaptive Disturbance Attenuation of Nonholonomic Systems with Nonlinear Parameterization

Nengwei Zhang, Yanling Shang, Fangzheng Gao


This paper investigates adaptive H? control problem for nonholonomic systems with nonlinear parameterization and external disturbances. The input-state-scaling and backstepping techniques are applied to design the global adaptive controller and a switching strategy is developed to eliminate the phenomenon of uncontrollability. The proposed controller
guarantees the effect from external disturbance to the system output in sense of L2 gain arbitrarily small. Without the presence of the disturbance, the system states are asymptotically regulated to the origin. An simulation example shows the effectiveness of the proposed control scheme.


Nonholonomic systems, nonlinear parameterization, input-state-scaling, disturbance attenuation, L2 gain.

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