IEEE Transactions on Automatic Control, Vol.48, No.10, 1768-1772, 2003
Robust stabilization of chained systems via hybrid control
The problem of global robust exponential stabilization of nonholonomic chained systems is addressed and solved by means of a hybrid state feedback control law. It is shown that the control law yields global exponential stability and global robustness against a class of small measurement errors, actuator noises and exogenous disturbances.
Keywords:chained systems;exogenous disturbances;hybrid control;measurement errors;robust stabilization