ϵ-stabilization of chained systems with input constraints

Investigates the control problem of chained systems with input constraints. A new controller is presented, which can stabilize the system to an arbitrarily small ε-neighborhood of its equilibrium in a finite time. This is achieved by the sliding mode approach and a multi-step control strategy. The application of it to a nonholonomic wheeled mobile robot is described. A simulation result shows that the proposed controller is effective