High gain adaptive control for a class of uncertain non-holonomic systems
by Ryuji Michino; Ikuro Mizumoto
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 3, No. 3, 2011

Abstract: It is well known that high gain feedback is one of the most powerful controller design technique for uncertain controlled systems. In this paper, a controller design method of high gain adaptive feedback for non-holonomic systems with unknown system parameters and a class of unbounded uncertainties and/or disturbances is proposed. The considered unbounded uncertainties and/or disturbances are decomposed by a known function and unknown constants. The designed adaptive controller is a rather simple structure, since it has only one adaptive adjusting term which is a feedback gain designed based on high gain technique. Further, the controller achieves not only the stability of the controlled system but also convergence to a small region around origin by increasing the design parameters. The application of the controller to a non-holonomic wheeled mobile robot is considered as an illustrative example.

Online publication date: Wed, 18-Mar-2015

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