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New Results on Adaptive Control for a Class of Delayed Nonholonomic Systems

Jin-Ming Huang, Zhen-Guo Liu, and Yu-Qiang Wu*
International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp.611-618, 2017

Abstract : "This paper introduces a new class of uncertain delayed nonholonomic systems and studies the adaptive control problem. A distinct characteristic of this work lies in that uncertain parameters and unknown time-delay exist in the system simultaneously. By proposing a dynamic gain based Lyapunov-Krasovskii method, we construct an explicit adaptive controller, which guarantees the boundedness of the states of the closed-loop system and the convergence of the original system states. Examples are provided to show the effectiveness of the presented method."

Keyword : Adaptive control, dynamic gain, Lyapunov-Krasovskii method, nonholonomic systems, time-delay systems

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