Walsh, G.; Tilbury, D.; Sastry, S.; Murray, R.; Laumond, J. P. Stabilization of trajectories for systems with nonholonomic constraints. (English) Zbl 0825.93677 IEEE Trans. Autom. Control 39, No. 1, 216-222 (1994). A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. In this note, we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the note gives an explicit control law which will locally exponentially stabilize the system to the desired trajectory. The theory is applied to several examples, including a car-like robot. Cited in 31 Documents MSC: 93D15 Stabilization of systems by feedback 70Q05 Control of mechanical systems PDFBibTeX XMLCite \textit{G. Walsh} et al., IEEE Trans. Autom. Control 39, No. 1, 216--222 (1994; Zbl 0825.93677) Full Text: DOI Link