Quasi-continuous output feedback control for nonholonomic systems in chained form

In this paper, the problem of stabilizing the class of nonholonomic systems in chained form is solved by means of a quasi-continuous output feedback and invariant manifold technique. To this end, we assume that only the first and the last state variables are measurable. The proposed controller yields exponential stability in a large domain, while avoiding a discontinuity surface at the initial time. To highlight its effectiveness, the developed approach is applied to a nonholonomic wheeled mobile robot.