标题：State Feedback Regulation of a Class of Uncertain Time-Varying Lower Triangular Nonholonomic Systems with State Delay
作者：Chen, Xiandong ;Zhang, Xianfu
作者机构：[Chen, Xiandong ;Zhang, Xianfu ] School of Control Science and Engineering, Shandong University, Jinan; 250061, China
会议名称：37th Chinese Control Conference, CCC 2018
会议日期：25 July 2018 through 27 July 2018
来源：Chinese Control Conference, CCC
关键词：Nonholonomic system; Regulation problem; Time delay; Time-varying system; Uncertainty
摘要：In this paper, a novel control strategy is proposed to regulate a class of uncertain time-varying lower triangular nonholonomic systems with state delay. The nonlinear terms admit an incremental rate depending on an unknown parameter and time-varying function. By means of the input-state-scaling technique and the high gain control method, the systems considered here are transformed into a class of lower triangular systems. Then for system analysis, the state feedback controllers are constructed based on Lyapunov theorem. An illustrative example is also provided to demonstrate the effectiveness of the proposed control strategy. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.