New results on regulation of nonlinear systems in power chained form

We address the problem of global asymptotic regulation (GAR) for a class of high-order nonholonomic systems in power chained form, which are a natural extension of the nonholonomic systems in chained form that has received considerable attention. The system under consideration is not necessarily affine in the control variables and therefore cannot be handled by most of the existing methods. In this paper, restrictive growth conditions imposed in our previous work [14] are removed and a switching state feedback control law is explicitly constructed, using the adding a power integrator technique proposed in [18, 19].