Output Feedback Stabilization of Uncertain Nonholonomic Chained Systems

Abstract

In this paper, output feedback stabilization problem of a class of nonholonomic systems in chained form with drift nonlinearity and unknown virtual control coefficients is considered. Observer-based output feedback design is developed when only partial system states are measurable. The control laws are developed using state scaling and backstepping techniques. The proposed control strategies can steer the system globally converge to the origin.