Abstract
In this paper, we consider the global robust asymptotic stabilization problem for a class of uncertain chained-form nonholonomic systems with dynamic uncertainty. By means of the notion of input-to-state stability (ISS) and ISS-Lyapunov functions, we characterize the cascaded dynamic uncertainty and present a global robust stabilizing control scheme via state feedback. The discontinuous input-to-state scaling and the changing supply rates technique are employed in the control design. Additionally, we develop a switching control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm.
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