Trajectory Tracking for Nonholonomic Vehicles

For many years, the control of nonholonomic vehicles has been a very active research field. At least two reasons account for this fact. On one hand, wheeled-vehicles constitute a major and ever more ubiquitous transportation system. Previously restricted to research laboratories and factories, automated wheeled-vehicles are now envisioned in everyday life (e.g. through car-platooning applications or urban transportation services), not to mention the military domain. These novel applications, which require coordination between multiple agents, give rise to new control problems. On the other hand, the kinematic equations of nonholonomic systems are highly nonlinear, and thus of particular interest for the development of nonlinear control theory and practice. Furthermore, some of the control methods initially developed for nonholonomic systems have proven to be applicable to other physical systems (e.g. underactuated mechanical systems), as well as to more general classes of nonlinear systems.

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