Feedback linearization and stabilization of second-order nonholonomic chained systems

This paper presents a theoretical framework for nonregular feedback linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. The design mechanism is generalised to higher-order nonholonomic chained systems. Simulation studies are carried out to show the effectiveness of the approach