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Iterative design of time-varying stabilizers for multi-input systems in chained form
Authors:Zhong-Ping Jiang
Institution:

Department of Systems Engineering, Australian National University, Canberra ACT 0200, Australia

Abstract:This paper proposes an alternative solution to the global stabilization of nonholonomic multi-input chained form systems investigated in recent contributions 13, 18]. A systematic design, which is reminiscent of integrator backstepping methods, is presented to generate a new class of smooth time-varying dynamic stabilizers. The proof of stability is straightforward and the algorithm finds its application in adaptive control of nonholonomic systems and tracking control of mobile robot.
Keywords:Chained nonholonomic systems  Integrator backstepping  Time-varying controller  Global stabilization
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