@inproceedings{9b3b07874d1c4c37acc9fe92bae18baa,
title = "Backstepping-based tracking control of nonholonomic chained systems",
abstract = "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.",
keywords = "Backstepping, Feedback stabilization, Nonholonomic systems, Nonlinear control, Tracking",
author = "Jiang, {Zhong Ping} and Henk Nijmeijer",
year = "1997",
doi = "10.23919/ecc.1997.7082510",
language = "English (US)",
isbn = "9783952426906",
series = "ECC 1997 - European Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2664--2669",
booktitle = "ECC 1997 - European Control Conference",
note = "4th European Control Conference, ECC 1997 ; Conference date: 01-07-1997 Through 04-07-1997",
}