WSEAS Transactions on Circuits and Systems
Print ISSN: 1109-2734, E-ISSN: 2224-266X
Volume 14, 2015
Global State-Feedback Stabilization for a Class of Uncertain Nonholonomic Systems with Partial Inputs Saturation
Authors: ,
Abstract: 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.