Output Feedback Control for Uncertain Nonholonomic Systems in Chained Form

摘要

The problems of almost asymptotic stabilization and global asymptotic regulation (GAR) are considered by using output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-variable output feedback controller, which can universally stabilizes a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.