Design of Disturbance Rejection Controller for Nonholonomic Systems with Certain Growth Constraints

This paper studies the global output feedback stabilization problem for a class of nonholonomic systems with non-vanishing external disturbances and uncertain nonlinear dynamics. In order to estimate the system states and external disturbance, an extended state observer (ESO) is developed. The external disturbance term is regarded as a general state, and a new generalized error dynamic system is obtained. By using backstepping and state input scaling technique, a disturbance rejection controller is designed, and the states of the system asymptotically approaches to zero while guaranteeing all signals of the closed-loop system are global boundedness. Simulation example is given to verify the effectiveness of the control algorithm.