Robust stabilization of uncertain nonholonomic systems with strong nonlinear drifts

摘要

This paper investigates the robust stabilization of the nonholonomic control systems with strongly non-linear uncertainties. In order to make the state scaling effective and to prevent the finite time escape phenomenon from happening, the switching control strategy based on the state measurement of the first subsystem is employed to achieve the asymptotic stabilization. The recursive integrator backstepping technique is applied to the design of the robust controller. The simulation example demonstrates the efficiency and robust features of the proposed method.