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Partial-state Feedback Stabilization for a Class of Generalized Nonholonomic Systems with ISS Dynamic Uncertainties

Yan Zhao*, Chunxiao Wang, and Jiangbo Yu
International Journal of Control, Automation, and Systems, vol. 16, no. 1, pp.79-86, 2018

Abstract : "In this paper, the problem of global stabilization control via partial-state feedback is addressed for a class of uncertain nonholonomic systems with the disturbed virtual control directions. The investigated nonholonomic system has the input-to-state stable (ISS) dynamic uncertainties. The small gain theorem and the changing supply function technique are employed to derive a global stabilization controller. Additionally, we develop a switching control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm."

Keyword : "Input-to-state stable (ISS), nonholonomic systems, partial-state feedback, small gain theorem, stabilization control."

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