Chained form transformation algorithm for a class of 3-states and 2-inputs nonholonomic systems and attitude control of a space robot

We consider a chained form transformation for a class of the 3-states and 2-inputs symmetric affine nonholonomic systems. Firstly, we propose an algorithm for building the coordinate and input transformation to convert such systems into the chained form. It is shown that a chained form for a two-wheel car is easily obtained by using the transformation. Secondly, we show that some planar 3-link nonholonomic mechanical systems are expressed as the 3-states and 2-inputs symmetric affine system which we discuss. Finally, an asteroid sample return robot is considered as an example, and simulation has been carried out