ITERATIVE DESIGN OF TIME-VARYING STABILIZERS FOR MULTI-INPUT SYSTEMS IN CHAINED FORM

摘要

This paper proposes an alternative solution to the global stabilization of nonholonomic multi-input chained form systems investigated in recent contributions [13, 18]. A systematic design, which is reminiscent of integrator backstepping methods, is presented to generate a new class of smooth time-varying dynamic stabilizers. The proof of stability is straightforward and the algorithm finds its application in adaptive control of nonholonomic systems and tracking control of mobile robot. [References: 18]