A suboptimal tracking control for a class of nonholonomic chained systems

In this paper, a suboptimal and asymptotic stability tracking control is proposed for a class of nonholonomic chained systems. Design of the preliminary control is obtained by a successive approximation approach for two subsystems decoupled from the original tracking error systems, one is an approximate system, the other is relied on the first completely. By using finitestep iteration sequence for the approximate system with the least square index performance, we can obtain an optimal control law. Furthermore, a suboptimal controller with arbitrarily small cost for the original systems is presented based on the previous results, and its asymptotic stability can be proved.