𝐾-exponential Stabilization of Uncertain High-order Nonholonomic Chained Systems

In this paper, we address the problem of 𝐾-exponential stabilization for a class of uncertain high-order nonholonomic chained systems. This particular class of nonlinear systems is an extension of a nonholonomic system in chained form that has received considerable attention in the past few years. Using input/state scaling and integrator backstepping methods, we construct noncontinuous feedback law and give out the switching strategy, such that the related closed-loop systems 𝐾-exponential Stable.