Linear controllers for exponential tracking of systems in chained-form

In this paper we address the tracking problem for a class of non-holonomic chained-form control systems. We present a simple solution for both the state feedback and the dynamic output feedback problem. The proposed controllers are linear and render the tracking error dynamics globally 𝒦-exponentially stable. We also deal with both control problems under input saturation. Application of the results to the control of wheeled mobile robots is illustrated by means of simulations of a car pulling a single trailer.