A unified Lyapunov framework for stabilization and tracking of nonholonomic systems

This paper collects recent results published in a series of papers and presents new results on stabilization and tracking for nonholonomic dynamical systems. A unified backstepping design methodology is proposed to tackle both the stabilization and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple, while the obtained controllers yield practically acceptable stability properties under moderate control efforts