Robust global asymptotic stability of uncertain nonholonomic systems with strong nonlinear drifts

The robust stability is investigated for nonholonomic control systems in generalized chained form with strong nonlinear uncertainties. In order to make the origin be a solution of the closed-loop system and prevent the finite time escape phenomenon from happening, a new robust nonlinear switching law is proposed so that global asymptotic stability analysis can be dealt with for discontinuous closed-loop system. The recursive integrator backstepping technique is applied to the design of the robust controller. The simulation example demonstrates the effectiveness and robust features of the proposed method.