Abstract
This paper proposes an alternative solution to the global stabilization of nonholonomic multi-input chained form systems investigated in recent contributions [13, 18]. A systematic design, which is reminiscent of integrator backstepping methods, is presented to generate a new class of smooth time-varying dynamic stabilizers. The proof of stability is straightforward and the algorithm finds its application in adaptive control of nonholonomic systems and tracking control of mobile robot.
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