An error model of chained form with two inputs for a generalized stabilization problem

This paper describes a generalized stabilization problem of nonholonomic systems to a non-zero desired point. To this end, an error model of chained form with two inputs is derived for shifting the origin to an arbitrary point. After describing the case of three and four states, their results are extended to the generalized case of n states. The effectiveness of the present method is demonstrated by showing simulations for a stabilization problem to a non-zero desired point in a nonholonomic two-wheeled mobile robot and a car-like mobile robot.