Global State-Feedback Stabilization of High-Order Nonholonomic Systems with Time-Varying Delays

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Abstract: 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.

WSEAS Transactions on Mathematics, ISSN / E-ISSN: 1109-2769 / 2224-2880, Volume 15, 2016, Art. #16

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Deheng Hou, Fangzheng Gao, "Global State-Feedback Stabilization of High-Order Nonholonomic Systems with Time-Varying Delays," WSEAS Transactions on Mathematics, vol. 15, pp. 166-175, 2016, DOI:
Deheng Hou, Fangzheng Gao. Global State-Feedback Stabilization of High-Order Nonholonomic Systems with Time-Varying Delays. WSEAS Transactions on Mathematics. 2016;15:166-175.
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