Output Feedback Stabilizing Control for Uncertain Nonholonomic Systems with Input-Output Polynomial Depending Growth Rate

In this paper, the global output feedback stabilization for a class of nonholonomic systems with input-output polynomial, and unmeasurable states dependent growth is studied. Motivated by the closely related works, in order to reconstruct the unmeasurable system states and compensate the uncertainties/unknowns in the nonlinear drifts, an observer with a new dynamic high-gain is designed. Then, we adopt a nonidentifier-based adaptive controller without invoking the backstepping technique. Particularly, the complexity of the controller is reduced by combining the dynamic gain technology and universal control theory. Finally, the serious uncertainty in the chained nonholonomic systems is overcome by constructing a switching control strategy. The results show that all the signals of the closed-loop system are bounded, while the closed-loop system state converges to zero. The effectiveness of the control scheme is proved by an example.