Output Feedback Asymptotic Stabilization of Nonholonomic Systems with Strong Nonlinear Drifts

This paper deals with the stabilization problem of the nonholonomic systems with strongly nonlinear uncertainties and unknown parameters. The purpose is to design a nonlinear output feedback switching controller such that closed loop system is globally asymptotically stable. In order to make the state scaling effective, the switching control strategy based on the output measurement of the first subsystem is employed to achieve the asymptotic stabilization. The integrator backstep-ping technique is applied to the design of the controller. The adaptive scheme is introduced into the controller design to overcome the unknown parameters. The output feedback asymptotic stabilization is realized.