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This paper deals with the output feedback stabilization problem for the stochastic nonholonomic systems with unknown stochastic disturbances. The objective is to design the almost global asymptotical output feedback controllers in probability for the systems by using discontinuous control. The switching control strategy based on the output measurement of the first subsystem is employed to achieve...
The robust stability is investigated for nonholonomic control systems in generalized chained form with strong nonlinear uncertainties. In order to make the origin be a solution of the closed-loop system and prevent the finite time escape phenomenon from happening, a new robust nonlinear switching law is proposed so that global asymptotic stability analysis can be dealt with for discontinuous closed-loop...
In this paper, an adaptive output feedback control strategy is presented for a class of nonholomic systems in chained form with drift nonlinearity uncertainties. The control law is developed using the systematic strategy combines the input-state-scaling technique with the so-called backstepping techniques. In particular, a dynamic output feedback controller for general case of uncertain chained system...
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