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		Yuanyuan WU,Yuqiang WU.[en_title][J].Control Theory and Technology,2011,9(2):256~260.[Copy]

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YuanyuanWU,YuqiangWU
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(College of Electric and Information Engineering, Zhengzhou University of Light Industry;Research Institute of Automation, Qufu Normal University)

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Received:August 26, 2008Revised:April 07, 2009

基金项目:This work was supported by the National Natural Science Foundation of China (No.60974127).

Robust stabilization for nonholonomic systems with state delay and nonlinear drifts

Yuanyuan WU,Yuqiang WU

(College of Electric and Information Engineering, Zhengzhou University of Light Industry;Research Institute of Automation, Qufu Normal University)

Abstract:

This paper presents a control strategy for stabilization of the nonholonomic control systems with strongly nonlinear drifts and state delay. Applying a novel Lyapunov functional and backstepping recursive method, the design of robust nonlinear state feedback controllers is proposed, which can guarantee the stability of the closed-loop systems. Finally, a numerical example is provided to show the effectiveness of the method.

Key words: Nonholonomic systems Robust stabilization State delay Backstepping approach