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Zbl 0866.93084
Jiang, Zhong-Ping
Iterative design of time-varying stabilizers for multi-input systems in chained form. (English)
[J] Syst. Control Lett. 28, No.5, 255-262 (1996). ISSN 0167-6911

Summary: This paper proposes an alternative solution to the global stabilization of nonholonomic multi-input chained form systems investigated in recent contributions. 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 a mobile robot.

MSC 2000:: *93D15 Stabilization of systems by feedback
70F25 Nonholonomic systems
93C85 Automated control systems
93C99 Control systems, guided systems

Keywords: Chained nonholonomic systems; Integrator backstepping; Time-varying controller; Global stabilization; global stabilization; nonholonomic multi-input chained form systems; backstepping; time-varying; adaptive control; robot

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