Stabilization of a class of second-order nonholonomic systems
一类二阶非完整系统的镇定

Stabilization of a class of second-order nonholonomic systems was investigated. The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form. Smooth time-varying exponential control law was proposed to stabilize the second-order canonical chained form. The obtained result was applied to stabilize a planar underactuated rigid body.