Stabilization of nonholonomic chained systems via nonregular feedback linearization

This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization, Firstly, the nonsmooth version of nonregular feedback linearization is form ulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that the chained form is linearizable via nonregular fee dback control, thus enable us to design feedback control laws using standar d techniques for linear systems. The obtained discontinuous control laws gu arantee convergence of the closed-loop system with exponential rates. Final ly, simulation results are presented to show the effectiveness of the appro ach. (C) 2001 Elsevier Science B.V. All rights reserved.