Abstract
This paper presents new results for the global output-feedback tracking of nonholonomic systems in chained form. The tracking controllers are obtained on the basis of a recursive technique and a full exploitation of the system structure. Sufficient conditions on the reference paths are given to attain global exponential tracking. When disturbances occur in the dynamic extension of a nonholonomic chained system, it is shown how to modify the controller design procedure to yield robust tracking control laws. The proposed method is demonstrated and discussed by means of a benchmark nonholonomic knife-edge mechanical system.
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