Stabilization of nonholonomic chained systems via nonregular feedback linearization

This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that a chained form is linearizable via nonregular feedback control, thus enable us to design feedback control laws using standard techniques for linear systems. The obtained discontinuous control laws guarantee convergence of the closed-loop system with exponential rates. Finally, simulation results are presented to show the effectiveness of the approach.