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

Abstract

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.