Stabilizing control design for high-order nonholonomic system with unknown control direction

A controller design is proposed for a class of high order nonholonomic systems with unknown control direction. The purpose is to ensure a solution for the closed-loop system regulated to zero. Adding a power integrator backstepping technique and the switching control strategy are employed to design the controller. The state scaling is applied to the recursive manipulation. The simulation example demonstrates the effectiveness and robust features of the proposed method.