Robust State-feedback Stabilization for a Class of Nonholonomic Systems with Time Delays

摘要

This paper investigates the problem of state-feedback stabilization for a class of nonholonomic systems in chained form with unknown time delays. By using input-state-scaling technique and backstepping recursive approach, and choosing an appropriate Lyapunov-krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to eliminate the phenomenon of uncontrollability, global asymptotic regulation of the closed-loop system is achieved. Finally, a simulation example is provided to show the effectiveness of the proposed method.