Global output feedback stabilization for a class of uncertain nonholonomic Systems with Partial inputs saturation

This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. A simulation example is provided to illustrate the effectiveness of the proposed approach. Key–Words: Nonholonomic systems, Partial inputs saturation, Backstepping, State feedback, Global stabilization