Open Access
2014 Global Stabilization of Nonholonomic Chained Form Systems with Input Delay
Yanling Shang, Jing Xie
Abstr. Appl. Anal. 2014: 1-6 (2014). DOI: 10.1155/2014/156457


This paper investigates the global stabilization problem for a class of nonholonomic systems in chained form with input delay. A particular transformation is introduced to convert the original time-delay system into a delay-free form. Then, by using input-state-scaling technique and the method of sliding mode control, a constructive design procedure for state feedback control is given, which can guarantee that all the system states globally asymptotically converge to the origin. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.


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Yanling Shang. Jing Xie. "Global Stabilization of Nonholonomic Chained Form Systems with Input Delay." Abstr. Appl. Anal. 2014 1 - 6, 2014.


Published: 2014
First available in Project Euclid: 2 October 2014

zbMATH: 07021825
MathSciNet: MR3170390
Digital Object Identifier: 10.1155/2014/156457

Rights: Copyright © 2014 Hindawi

Vol.2014 • 2014
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