Adaptive output feedback stabilising control of uncertain chained-form non-holonomic systems

In this article, we investigate the global robust stabilisation problem for a class of uncertain chained-form non-holonomic systems. Three types of uncertainties are taken into account, including dynamic uncertainty, unknown control coefficients, and nonlinear parameterisation. Different from the existing works, the input-to-state stability (ISS) with unknown supply rates is used to characterise the system of dynamic uncertainty, and the...