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Zbl 0952.93057
Jiang, Zhong-Ping
Robust exponential regulation of nonholonomic systems with uncertainties. (English)
[J] Automatica 36, No.2, 189-209 (2000). ISSN 0005-1098

The author considers nonholonomic control systems in chained form with nonlinear disturbance and drift term. A robust control design scheme is presented to solve the global exponential regulation.
[Rosa Maria Bianchini (Firenze)]
MSC 2000:
*93C10 Nonlinear control systems
93D21 Adaptive and robust stabilization
70F25 Nonholonomic systems

Keywords: uncertain systems; robust nonlinear control; exponential regulation; state feedback; output feedback; nonholonomic control systems; chained form; disturbance

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