Transformation of the kinematic models of restricted mobility wheeled mobile robots with a single platform into chain forms

We are concerned in this paper with the transformation of the kinematic models of restricted mobility wheeled mobile robots with one platform into chain forms. For this purpose we take benefit of the existing transformation results concerning nonholonomic systems with two and three inputs. However, the existing sufficient conditions failed in the case of a two-steering wheeled mobile robot and have motivated the establishment of a new set of sufficient conditions for a particular class of 3-inputs chain form systems. We also consider the stabilizing control with an exponential rate of convergence for the two-steering wheeled mobile robot.