中文摘要：

适应输出反馈控制被建议与强壮的非线性的骚乱和飘移术语在锁住的形式处理 nonholonomic 系统的一个类。目的是设计适应非线性的产量反馈法律以便靠近环的系统是全球性 asymptotically 稳定，当估计的参数仍然保持围住时。建议系统的策略把 input-state-scaling 与 backstepping 技术相结合。适应输出反馈控制器为不明确的锁住的系统的一个一般盒子被设计。而且，一种特殊情况被考虑。模拟结果表明建议控制器的有效性。

英文摘要：

An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.