Stabilization of non-holonomic chained systems by gain scheduling

In this paper, a simple method-the gain scheduling technique-is applied for the stabilization of non-holonomic chained systems, such as mobile robots, front-wheel drive cars, and fire trucks. First, the stabilizing non-holono mic chained systems' problem is formulated as a multi-input multi-state (MI MS) linear parameter-varying system. By choosing a suitable and non-zero co ntrol input in the new formulated linear parameter-varying system, the gain scheduling techniques can then easily be applied to design the state feedb ack stabilizing controller. Simulation results show that the proposed metho dology has demonstrated superiority over previous methods and results in mu ch simpler trajectories.