Sampled-Data Stabilization of Nonholonomic Chained Form Systems with Multi-Rate Samplings

An approach with multi-rate samplings has been proposed to deal with the uncontrollable challenge of nonholonomic system's linearization around equilibrium in its stabilization problem. Concerning unknown nonlinearities, one scaling factor has been introduced to guarantee global asymptotic stability using techniques of linear feedback domination. Due to the interplay between this scaling factor and system's sampling period under multi-rate samplings, not only controllability of the whole nonholonomic systems has been guaranteed but also flexibility of choosing different sampling periods has been increased. Stabilization of uncertain unicycle under different sampling periods is also presented to demonstrate our proposed scheme and verify the established theoretical results.