Global State-Feedback Stabilization of High-Order Nonholonomic Systems with Time-Varying Delays
نویسندگان
چکیده
This paper investigates the problem of global stabilization by state-feedback for a class of high-order nonholonomic systems in power chained form with time-varying delays. By using input-state-scaling, and adding a power integrator techniques, and choosing an appropriate Lyapunov-Krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller could ensure that the closed-loop system is globally asymptotically regulated at origin. A simulation example is provided to illustrate the effectiveness of the proposed method. Key–Words: High-order nonholonomic systems, Time-varying delays, Input-state-scaling, Adding a power integrator
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