The Stabilization Of Nonholonomic Chained Systems

In this paper we present the stabilization of nonholonomic chained systems . First, we consider nonholonomic chained systems with modeling error, in this section,based on back-stepping , using the so-called adding a integrator , state-scaling technique , we design discontinuous feedback law,such that the trival solution of the closed-loop systems global strong stable; Second,we consider high-order nonholonomic chained systems with modeling errors and external disturbances, in this section,using input/state-scaling and integrator backstepping methods , we design discontinuous feedback law and give out the switching strategy, such that the closed-loop systems global /C-exponential stable; Finally, we consider a class of more general power chained form systems with particular drift-terms, in this section , using Lyapunov method, we design time-varying feedback law , such that the closed -loop systems p—exponential stable.