Stabilization of Uncertain Nonholonomic Control System Based on Backstepping

Since nonholonomic control systems are nonlinear systems in essence, linear control strategies are unable to solve the control problems of nonholonomic control systems. Therefore,backstepping,a new nonlinear control method,is applied to the stabilization of nonholonomic control system. The design rules of backstepping are based on Lyapunov stabilization. In this paper the stabilization of uncertain nonholonomic control systems based on backstepping is realized. The control design not only makes the system globally exponentially stabilized, but also achieves good dynamic and static performance and robust performance. Furthermore, simulation with some uncertainty is given, which proves the efficiency of the control design.