Control and stabilization of a general class of nonholonomic dynamic systems

This paper extends results in Bloch, Reyhanogln, and McClamroch (1992) to a more general class of nonholonomic dynamic systems that are important in applications. These nonlinear control systems are referred to as nonholonomic control systems due to certain nonintegrability assumptions which are made. The class of systems considered in this paper is characterized by general nonlinear base space dynamics that are input-output decouplable. Controllability and stabilizability results for this class of nonholonomic control systems are presented