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] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.
会议名称：37th Chinese Control Conference (CCC)
会议日期：JUL 25-27, 2018
来源：2018 37TH CHINESE CONTROL CONFERENCE (CCC)
关键词：Nonholonomic system; Time-varying system; Uncertainty; Time delay;; Regulation problem
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.