Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach

Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach

In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BL...

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Bibliographic Details
Main Authors:	Zhongcai Zhang, Xueli Hu, Yang Gao, Xiaodan Hou
Format:	Article
Language:	English
Published:	MDPI AG 2023-12-01
Series:	Mathematics
Subjects:	nonholonomic control systems stabilization adaptive stabilization full-state constraints barrier Lyapunov function
Online Access:	https://www.mdpi.com/2227-7390/12/1/59

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