The output feedback control for uncertain nonholonomic systems

This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation (GAR) by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.