New results on adaptive control for a class of delayed nonholonomic systems

This paper introduces a new class of uncertain delayed nonholonomic systems and studies the adaptive control problem. A distinct characteristic of this work lies in that uncertain parameters and unknown time-delay exist in the system simultaneously. By proposing a dynamic gain based Lyapunov-Krasovskii method, we construct an explicit adaptive controller, which guarantees the boundedness of the states of the closed-loop system and the convergence of the original system states. Examples are provided to show the effectiveness of the presented method.