A study on stabilization of nonholonomic systems via a hybrid control method

Guisheng Zhai, Isatada Matsune, Tomoaki Kobayashi, Joe Imae

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


In this paper, we consider a hybrid control strategy for stabilization of nonholonomic systems. In particular, we deal with a typical nonholonomic system, namely a two-wheeled vehicle. We first rewrite the system in a chained form, and then transform it into a nonholonomic integrator (NHI) system. Finally, we apply and modify the hybrid control method for the NHI system, so that the entire system is exponentially stable. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and give some analysis together with an example for the case where there are constraints on control inputs. We also extend the discussion to the case of four-wheeled vehicles.

Original languageEnglish
Pages (from-to)327-338
Number of pages12
JournalNonlinear Dynamics and Systems Theory
Issue number3
Publication statusPublished - 2007 Sept
Externally publishedYes


  • Chained form
  • Exponential stability/stabilization
  • Hybrid control
  • Nonholonomic integrator
  • Nonholonomic system
  • Switching strategy
  • Two(four)-wheeled vehicle

ASJC Scopus subject areas

  • Mathematical Physics
  • Applied Mathematics


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