Iterative design of time-varying stabilizers for multi-input systems in chained form

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.