Adaptive/robust time-varying stabilization of second-order non-holonomic chained form with input uncertainties

Adaptive and robust time-varying control schemes are constructed to stabilize second-order non-hotonomic chained form in the presence of input uncertainties. The proposed control schemes guarantee that all the state variables converge to zero asymptotically in spite of input uncertainties, and are applied to the stabilization of a planar rigid body driven by active force and torque with unknown inertia and geometric parameters. The basic idea of the proposed stabilization schemes is to first convert the non-holonomic system into a linear time-varying form by time-varying co-ordinate transformation, and then design control taws to stabilize the converted linear time-varying system.