A recursive technique for tracking control of nonholonomic systems in chained form

In this paper the authors address the tracking problem for a class of nonho lonomic chained form control systems. A recursive technique is proposed whi ch appears to be an extension of the currently popular integrator backstepp ing idea to the tracking of nonholonomic control systems. Conditions are gi ven under which the problems of semiglobal tracking and global path-followi ng are solved for a nonholonomic system in chained form and its dynamic ext ension. Results on local exponential tracking are also obtained. Two physic al examples of an articulated vehicle and a knife edge are provided to demo nstrate the effectiveness of our algorithm through simulations.