In this presented work, a systematic adaptive stabilization control strategy is proposed for nonholonomic system with parametric uncertainties and full-state constraints. To facilitate the handling of state constraints, the original constrained nonholonomic system is converted into a new unconstrained system by state-dependent function transformations including discontinuous state scalings. The adaptive control algorithm is elaborated by cleverly combing the tuning function design approach with switching control strategy. In stability analysis, it is shown that the designed stabilization control method can realize the desired stabilization control aims and full-state constraints. Simulation is carried out to demonstrate the effectiveness of the control scheme.

中文翻译：

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基于动态表面控制的状态约束不确定非完整系统自适应镇定

在这项工作中，为具有参数不确定性和全状态约束的非完整系统提出了一种系统的自适应稳定控制策略。为了便于处理状态约束，通过包括不连续状态缩放在内的状态相关函数转换，将原始受约束的非完整系统转换为新的无约束系统。自适应控制算法是通过将调谐函数设计方法与开关控制策略巧妙结合来阐述的。在稳定性分析中，表明所设计的稳定控制方法能够实现预期的稳定控制目标和全状态约束。进行仿真以证明控制方案的有效性。