Robust stabilization of nonholonomic systems with time delays

This paper investigates the problem of state-feedback stabilization for a class of nonholonomic systems in chained form with time delays. By using input-state-scaling technique and backstepping recursive approach, and choosing an appropriate Lyapunov-Krasoviskii functional, a state-feedback controller is constructed. Based on switching strategy to overcome the uncontrollability, global asymptotic regulation of the closed-loop system is achieved. A simulation example is provided to show the effectiveness of the proposed method.