Observer-based adaptive control for uncertain nonholonomic systems subject to time-varying function constraints on states Observer-based adaptive control for uncertain nonholonomic systems

• Published in: Nonlinear dynamics Vol. 113; no. 9; pp. 10175 - 10190
• Main Authors: Yang, Jing, Wu, Yuqiang
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.05.2025
• Subjects: Applications of Nonlinear Dynamics and Chaos Theory; Classical Mechanics; Control; Dynamical Systems; Physics; Physics and Astronomy; Statistical Physics and Dynamical Systems; Vibration; Barrier Lyapunov function (BLF); Function constraints on states; Input saturation; Nonholonomic systems
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-024-10790-w

This work investigates the stability issues of nonholonomic systems with dynamic uncertainty, input saturation, and state constraints. In contrast to previous research, a radical-type Lyapunov function and the L function are employed to address the symmetric time-varying function constraints on states, in which the constrained boundary depends on the partial states of the system in addition to being time dependent. To mitigate the effects of input saturation, a new auxiliary system is being introduced. Coordinate transformation is an excellent tool to manipulate the influence of the unknown control coefficients. An adaptive stability control approach based on output feedback is proposed to guarantee the stability of the closed-loop system without going against the symmetric time-varying state function requirements by building a switching control strategy. Simulation examples are given to prove the effectiveness of the proposed control scheme.