Lyapunov design of global state and output feedback trackers for non-holonomic control systems

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In this paper, new results are obtained for the global tracking of a class of non-holonomic dynamic systems via state and output feedback. The tracking controllers are systematically constructed on the basis of a recursive technique and a full exploitation of the system structure. Whendisturbances occur in a non-holonomic chained system, it isshown 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 non-holonomic knife-edge mechanical system.

Original languageEnglish (US)
Pages (from-to)744-761
Number of pages18
JournalInternational Journal of Control
Issue number9
StatePublished - Jan 1 2000


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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