Global robust stabilization for a class of cascaded nonholonomic systems

Abstract

The global stabilization control problem is investigated for a class of cascaded nonholonomic systems with input-to-state practically stable (ISpS) unmodeled dynamics. The control gains are unknown time-varying functions. Using the state feedback, we propose a recursive controller design procedure. The small gain theorem is used to handle the unmeasured dynamic uncertainty in this process. In addition, a switching control scheme is designed to solve the smooth stabilization difficulty with zero initial conditions for nonholonomic control systems. It is shown that the proposed methodology solves the robust asymptotic stabilization control for such kind of general nonholonomic systems. A numerical example is presented to demonstrate its efficacy.