Control of a nonholonomic system with a drift term

We consider a class of the 3-state and 2-input affine nonholonomic systems with a drift term. First, we propose an expanded chained form which is expressed as the simulation of the drift term and the chained form, and the controller design method based on it. Next, we propose the coordinate and input transformation algorithm which converts an affine system with a drift term into the time-state control form, and propose the controller design method using the exact linearization. Finally, an asteroid sample-return robot with non-zero initial angular momentum is considered as an example. By using the transformation algorithm, we obtain the time-state control form for the robot. The attitude controller of the robot is designed on the basis of the time-state control form, and simulation has been carried out