Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form (Q1422854)

A nonholonomic system in the form \[ \dot x_1= u_1,\quad \dot x_2= u_2,\quad \dot x_{i+1}= x_i u_1,\quad i\in \{2,\dots, n-1\}, \] together with constraints on the control inputs \[ -u^{\max}_j\leq u_j\leq u^{\max}_j,\quad j\in \{1,2\} \] is considered. A discontinuous state-feedback control law is proposed for the stabilization of this system. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Illustrative simulations are given to show the effectiveness and the real-time implementability of the proposed scheme.