Robust stabilization of nonholonomic systems with unknown time delays

This paper presents a control strategy for stabilization of the nonholonomic control systems with strongly nonlinear uncertainties and unknown time delays. By constructing appropriate Lyapunov functional, the uncertainties of unknown time delays are compensated for. State scaling technique and backstepping recursive approach are applied to design the robust nonlinear state feedback switching controllers, which can guarantee the stabilization of the closed loop systems. Simulation results are provided to show the effectiveness of the proposed method.