Adaptive disturbance attenuation of nonholonomic systems with nonlinear parameterization

This paper investigates adaptive H8 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. © 2013 by CESER Publications.