Output feedback tracking of nonholonomic systems in chained form

In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the 'certainty equivalence type' of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable