Adaptive stabilization of high-order nonholonomic systems with unknown control coefficients

This paper solves the problem of globally stabilizing adaptive control design for a class of high-order nonholonomic systems, by skillfully using the discontinuous transformation of coordinates and the method of adding a power integrator. Compared with the existing literature, the control coefficients of the systems are unknown and no known constants can (lower and upper) bound them, and in the designed adaptive controller, only one updating law is needed to dynamically compensate the unknowns in the system control coefficients. A numerical simulation is provided to demonstrate the validness of the proposed method.