Global robust stabilization for nonholonomic systems with dynamic uncertainties

Abstract

In this paper, we investigate the global robust stabilization problem for a class of uncertain chained-form nonholonomic systems. Remarkably, the studied system allows the nonlinear dynamic uncertainties. Characterizing the system of dynamic uncertainties via Sontag’s input-to-state stability (ISS) and ISS-Lyapunov function, we present a novel robust stabilization scheme via output feedback. The input-state scaling transformation is employed in this procedure to design a discontinuous time-invariant control law. A technical lemma is proposed in this paper to handle the dynamic uncertainties combining with the changing supply rates technique. Moreover, a switching control strategy based on the state magnitude is applied to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm.