Abstract
In this paper, feedback stabilization problem of nonholonomic chained system is studied. A new continuous and time-varying design approach is proposed and it is a pure state feedback control. By injecting an exponential decaying disturbance scaled by the norm of the states, u1 drives the initial states away from the singular manifold {x|x1 = 0, |x| ≠ 0] that causes singularity. In addition to the continuity, such a control has the exponential convergent rate that discontinuous control has. The enclosed simulation results verified the effectiveness of the proposed approach. Comparisons made with other existing continuous and discontinuous controls show that the proposed control has superior performance.
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