State regulation of nonholonomic systems with dynamics based on time-state control form

摘要

This paper investigates state regulation control problems of dynamic nonholonomic systems based on time-state control form with the second-order time control part. System description is first introduced and transformation schemes for nonholonomic systems into time-state control form are presented. Then, a novel control design method based on the form with a class of time scale functions is proposed. Here, the present control laws achieve convergence of all the states to the origin with bounded input. It is also shown that almost all of the proposed methods have robustness against a class of uncertain disturbances. Some design examples and simulation are finally provided to show the validity of the present approach.