摘要：Abstract: This paper addresses the problem of asymptotic stabilization for a class of nonholonomic systems in chained form with output constraint. A nonlinear mapping is first introduced to transform the output-constrained system into a new unconstrained one. Then, by employing the backstepping technique and switching control strategy, a state feedback controller is successfully constructed to guarantee that the states of closed-loop system are asymptotically regulated to zero without violation of the constraint. A simulation example is provided to demonstrate the effectiveness of the proposed method.
