A control for a class of nonholonomic systems subject to velocity constraints using acceleration inputs

We present a control method to stabilize a class of systems subject to velocity constraints using acceleration inputs. The method is an extension of time-state control form and its control strategy which we have already proposed for a class of nonholonomic systems subject to velocity constraints with velocity inputs. We can also apply this new strategy to stabilizing control for a class of nonholonomic systems. Such a class of systems is broader than those which can be transformed into the chained form.