Dynamic control and motion planning technique for a class of nonlinear systems with drift

The paper addresses the synthesis of a smooth dynamic feedback for a class of nonholonomic systems (nonlinear systems with drift). The proposed technique provides asymptotic stability and convergence to a desired equilibrium manifold. The manifold is a (task) function of the generalized co-ordinates. Applications of the proposed technique to control of two classes of nonholonomic systems are presented.