This article investigates the stabilization of chained‐form nonholonomic systems with strong drifts, multidisturbances, and unknown constant parameters. The disturbances include the matched disturbance with bounded variation and the unknown time‐varying unmatched disturbance. A nonlinear disturbance observer is skillfully constructed to evaluate the matched disturbance and a disturbance estimation is used in the virtual controls to compensate the unmatched disturbance. By using a new input‐to‐state scaling scheme, the original nonholonomic system is transformed into a strict feedback form. Combining back‐stepping technique with disturbance observer‐based control (DOBC), a composite DOBC and global adaptive stabilization controller is proposed. A switching strategy based on control input magnitude instead of time is proposed to avoid uncontrollability. By using Lyapunov tools, all the states in the system are proved to be uniformly ultimate bounded. Simulations demonstrate the effectiveness of the proposed strategies.

中文翻译：

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具有多重干扰和强非线性漂移的链式系统的自适应全局稳定

本文研究了具有强漂移，多扰动和未知常数参数的链形式非完整系统的稳定性。干扰包括具有有限变化的匹配干扰和未知的时变不匹配干扰。熟练地构造了非线性干扰观测器以评估匹配的干扰，并且在虚拟控件中使用干扰估计来补偿不匹配的干扰。通过使用新的输入到状态缩放方案，原始的非完整系统将转换为严格的反馈形式。将反推技术与基于干扰观测器的控制（DOBC）相结合，提出了一种复合DOBC和全局自适应稳定控制器。为了避免不可控性，提出了一种基于控制输入量而不是时间的切换策略。通过使用Lyapunov工具，证明了系统中的所有状态都是一致的极限极限。仿真证明了所提出策略的有效性。