INTEGRAL ESTIMATION AND ADAPTIVE STABILIZATION OF NONHOLONOMIC CONTROLLED SYSTEMS

A method for the programmed stabilization of non-holonomic dynamic systems is proposed. The original problem is reduced to a constrained adaptive control problem with unknown perturbations, which are represented by the reactions of linear (not necessarily ideal) non-holonomic constraints. Effective control and parameter estimation algorithms are constructed for the exponential stabilization of the system. The method can be extended to non-holonomic systems whose parameters are not known in advance or undergo an unknown bounded drift with time.