Linear controllers for exponential tracking of systems in chained-form

In this paper we address the tracking problem for a class of non holonomic chained-form control systems. We present a simple solution for both the sta te feedback and the dynamic output feedback problem. The proposed controlle rs are linear and render the tracking error dynamics globally K-exponential ly stable. We also deal with both control problems under input saturation. Application of the results to the control of wheeled mobile robots is illus trated by means of simulations of a car pulling a single trailer. Copyright (C) 2000 John Wiley & Sons, Ltd.