ABSTRACT
Nonholonomic control systems are becoming increasingly important in research and industry as they present many interesting features and potentialities. From the researchers’ point of view nonholonomic control systems are a prototype of strongly nonlinear systems, requiring a fully nonlinear analysis, since all first approximation methods are inadequate. A hybrid control law globally robustly exponentially stabilizing a chained system has been proposed. The problem of stabilization and robust stabilization for nonholonomic systems has been discussed from various perspectives. It has been shown that, in ideal situations, a class of discontinuous controllers allow to obtain fast convergence and efficient trajectories. The use of canonical forms allows the explicit construction of stabilizing control laws, and the in-depth study of the asymptotic properties of closed loop systems. It is believed that the list of reference provides adequate pointers to investigate and study the issues.
