Output feedback stabilization of nonholonomic systems with unmeasured dynamics and nonlinear drifts

This paper investigates the output feedback stabilization problem for a class of nonholonomic systems whose nonlinear drifts are composed of both the unmeasured dynamics and the nonlinear functions of available states. Based on a time-varying Riccati matrix differential equation, the designed observer overcomes the difficulty arising from the unmeasured states. Applying the Backstepping method and the switching scheme, the control laws obtained in the recursive procedure solve the stabilization of these general systems. Simulation validates the correctness of the presented algorithm.