Fangzheng Gao, Yanling Shang, "Global State-Feedback Stabilization for a Class of Uncertain Nonholonomic Systems with Partial Inputs Saturation," WSEAS Transactions on Circuits and Systems, vol. 14, pp. 229-235, 2015, DOI:
Fangzheng Gao, Yanling Shang. Global State-Feedback Stabilization for a Class of Uncertain Nonholonomic Systems with Partial Inputs Saturation.
WSEAS Transactions on Circuits and Systems. 2015;14:229-235.
WSEAS Transactions on Circuits and Systems
Print ISSN: 1109-2734, E-ISSN: 2224-266X
Volume 14, 2015
Global State-Feedback Stabilization for a Class of Uncertain Nonholonomic Systems with Partial Inputs Saturation
Authors: ,
Abstract: This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of closed-loop system are globally asymptotically regulated to zero. A simulation example is provided to illustrate the effectiveness of the proposed approach.
Keywords:
Nonholonomic systems, Partial inputs saturation, Backstepping, State feedback, Global stabilization
Pages: 229-235 WSEAS Transactions on Circuits and Systems, ISSN / E-ISSN: 1109-2734 / 2224-266X, Volume 14, 2015, Art. #27 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
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