Global asymptotic stability controller of uncertain nonholonomic systems

This paper proposes a global asymptotic stability controller for a class of nonholonomic systems with nonlinear uncertainties. Different from the existing results, we construct a new nonlinear switching law employing the full states feedback, which renders the origin to be a solution of the closed-loop system. With this switching control scheme, the finite time escape phenomenon is avoided. We apply the definition of Lyapunov stability to the stability analysis of the discontinuous closed-loop system, and achieve the global asymptotic stability for the system in our class. The simulation results testify to the effectiveness and the robust features of the developed control approach. (C) 2013 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.