Global output feedback stabilization of uncertain nonholonomic systems with applications to mobile robots

Abstract

This paper considers the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems. By combining the output feedback domination design and nonsmooth change of coordinates together, we explicitly construct a simple output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The effectiveness of the proposed approach is illustrated by solving the output feedback stabilization for wheeled mobile robots.