Controllability and state feedback stabilizability of non holonomic mechanical systems

Abstract

The dynamics of non holonomic mechanical system are described by the classical Euler-Lagrange equations subjected to a set of non-integrable constraints. Non holonomic systems are strongly accessible whatever the structure of the constraints. They cannot be asymptotically stabilized by a smooth pure state feedback. However smooth state feedback control laws can be designed which guarantee the global marginal stability of non holonomic systems.