Backstepping-based tracking control of nonholonomic chained systems

Zhong Ping Jiang, Henk Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We consider the tracking control of chained nonholonomic systems using integrator backstepping techniques. For any a priori given compact set, we can find a tracking controller such that the closed-loop error dynamics are uniformly asymptotically stable with a domain of attraction containing this set. A systematic controller design scheme is proposed via backstepping. Comparisons with previous tracking methods are also made.

Original languageEnglish (US)
Title of host publicationECC 1997 - European Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952426906
ISBN (Print)9783952426906
StatePublished - 1997
Event4th European Control Conference, ECC 1997 - Brussels, Belgium
Duration: Jul 1 1997Jul 4 1997

Publication series

NameECC 1997 - European Control Conference


Other4th European Control Conference, ECC 1997


  • Backstepping
  • Feedback stabilization
  • Nonholonomic systems
  • Nonlinear control
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering

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