ε-stabilization of multiple chained form control systems with input constraints and its application in mobile robots

This paper is concerned with the stabilization problem of multiple chained form control systems with input constraints. A new controller presented can stabilize the system to an arbitrarily, small ε-neighborhood of its equilibrium in a finite time. This is achieved by the sliding mode approach and a multi-step control strategy. The application of it to a nonholonomic wheeled mobile robot is described. Simulation result shouts that the proposed controller is effective