Robust Global Stabilization of Uncertain Chained Nonholonomic Systems Using Back stepping

Abstract:

This paper deals with nonholonomic control systems in chained form with strongly nonlinear disturbances and drift terms.The objective is to design a robust nonlinear state feedback law which can steer the closedloop systems globally converge to the origin.The systematic strategy combines the inputstate scaling technique with the backstepping procedure.The design rules of backstepping are based on Lyapunov stabilization.The control design not only makes the system globally stabilization,but also achieves good dynamic and static performance.The simulation results demonstrate the efficiency and robust features of the proposed controllers in this paper.

Key words:robust stabilization; nonholonomic systems; inputstate scaling; backstepping