Output feedback stabilization of nonholonomic systems with unknown time delays

This paper presents the design of an output feedback stabilization controller for nonholonomic control systems with strongly nonlinear uncertainties and unknown time delays. By constructing a novel Lyapunov functional, the uncertainties of unknown time delays are compensated for. Based on the proposed observer, state scaling technique and backstepping recursive approach are applied to design a nonlinear output 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. Key Words: Nonholonomic systems, Time delay, Stabilization, State scaling, Backstepping.