Robust stabilization of delayed nonholonomic systems with strong nonlinear drifts

This paper presents a control strategy for stabilization of nonholonomic control systems with strongly nonlinear uncertainties and time delay. By applying a novel Lyapunov functional, discontinuous transformation and dynamic feedback approach, robust nonlinear state feedback switching controllers are designed, which can guarantee the stabilization of closed loop systems. The proposed method proves to be effective by a simulation example. (C) 2010 Elsevier Ltd. All rights reserved.