A recursive technique for tracking control of nonholonomic systems in chained form

Zhong Ping Jiang, Henk Nijmeijer

Research output: Contribution to journalArticle


In this paper the authors address the tracking problem for a class of nonholonomic chained form control systems. A recursive technique is proposed which appears to be an extension of the currently popular integrator backstepping idea to the tracking of nonholonomic control systems. Conditions are given under which the problems of semi global tracking and global path-following are solved for a nonholonomic system in chained form and its dynamic extension. Results on local exponential tracking are also obtained. Two physical examples of an articulated vehicle and a knife edge are provided to demonstrate the effectiveness of our algorithm through simulations.

Original languageEnglish (US)
Pages (from-to)265-279
Number of pages15
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - Dec 1 1999



  • Chained form
  • Integrator backstepping
  • Non-holonomic systems
  • Time-varying feedback laws
  • Tracking control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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