STABILIZATION AND TRACKING FOR NONHOLONOMIC CONTROL SYSTEMS USING TIME-VARYING STATE FEEDBACK

Abstract In this paper, we consider the problems of stabilization and tracking for drift-free controllable nonlinear systems. We extend our previous work on the use of sinusoids to generate open loop trajectories for a special class of nonholonomic systems and show how similar techniques may be used to generate locally asymptotic and almost exponential stabilizers for such systems. In addition, we consider the problem of trajectory tracking for nonholonomic systems and compare the performance of tracking controllers and point stabilizers as applied to a simple model of a mobile robot.

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