Robust stabilization of uncertain nonholonomic systems with strong nonlinear drifts

Key words:  Nonholonomic systems with uncertainties  Switching control strategy  Global asymptotic stabilization

摘要:

Abstract:

This paper investigates the robust stabilization of the nonholonomic control systems with strongly nonlinear uncertainties. In order to make the state scaling effective and to prevent the finite time escape phenomenon from happening, the switching control strategy based on the state measurement of the first subsystem is employed to achieve the asymptotic stabilization. The recursive integrator backstepping technique is applied to the design of the robust controller. The simulation example demonstrates the efficiency and robust features of the proposed method.