Stabilization of nonholonomic systems in chained form: application to a car-like mobile robot

In this work the class of nonholonomic systems in chained form is studied. It is demonstrated that this category of strong nonlinear systems can be exponentially stabilized using an appropriate attractive manifold on which all the trajectories of the closed loop system tend to the origin, provided that the initial conditions are leading into an open and dense domain. To this end we propose a quasi-continuous state (output) feedback controllers for the n-dimensional systems in chained form. Simulation results are given to highlight the effectiveness of the proposed controllers