Switching manifold control for an extended nonholonomic double integrator

Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. Outputs of the controller based on the nonholonomic double integrator model are velocity commands for the kinematic model of a nonholonomic system. In this paper, we consider an extended nonholonomic double integrator model, in which control inputs are torque or force commands. We propose a switching controller based on the invariant manifold theory. Each controller is designed with a quasi-continuous exponential stabilized control. The effectiveness of the present method is verified by some simulations.