Global Asymptotic Stabilization for a Class of High-Order Nonholonomic Systems with Time-Varying Delays

This paper addresses the global asymptotic stabilization for a class of high-order nonholonomic systems with time-varying delays. By employing input-state-scaling, and adding a power integrator techniques, and by choosing an appropriate Lyapunov-Krasoviskii functional, a state feedback controller is constructed. Based on switching strategy to eliminate the phenomenon of uncontrollability, the proposed controller ensures that the closed-loop system is globally asymptotically regulated at the origin. A simulation example is provided to demonstrate the effectiveness of the proposed scheme.