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Abstract and Applied Analysis
Volume 2014, Article ID 156457, 6 pages
Research Article

Global Stabilization of Nonholonomic Chained Form Systems with Input Delay

1School of Software, Anyang Normal University, Anyang 455000, China
2School of Mathematics and Physics, Anyang Institute of Technology, Anyang 455000, China

Received 31 October 2013; Accepted 6 January 2014; Published 13 February 2014

Academic Editor: Yanni Xiao

Copyright © 2014 Yanling Shang and Jing Xie. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the global stabilization problem for a class of nonholonomic systems in chained form with input delay. A particular transformation is introduced to convert the original time-delay system into a delay-free form. Then, by using input-state-scaling technique and the method of sliding mode control, a constructive design procedure for state feedback control is given, which can guarantee that all the system states globally asymptotically converge to the origin. An illustrative example is also provided to demonstrate the effectiveness of the proposed scheme.