Robust controller design for uncertain nonholonomic systems

Research output: Contribution to journalConference articlepeer-review


This paper deals with a new class of nonholonomic control systems with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with nonholonomic systems. The systematic strategy involves the introduction of a state-scaling technique and the application of the so-called integrator backstepping procedure. Extension to the output-feedback case follows readily. Our theoretical development is validated via simulations.

Original languageEnglish (US)
Pages (from-to)3525-3529
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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