LAUSR

This note studies the asymptotic regulation problem for a class of nonholonomic systems with unknown constant disturbances, where system nonlinearities admit a lower-triangular form. First, following a new state transformation, the considered systems with unknown constant disturbances are converted into a class of auxiliary systems without disturbances. Second, two sampled-data controllers are designed for the auxiliary systems by using the high-gain method. Third, it is shown that with the introduced state transformation, the desired sampled-data integral controllers are obtained to asymptotically regulate the considered systems. The proposed control strategy is applied to asymptotically regulate a unicycle type mobile robot model.