Abstract
This paper presents control laws for multi-input nonholonomic chained system and two inputs three states nonholonomic Caplygin system. The control law for multi-input chained system is a smooth and static state feedback which exponentially stabilizes the equilibrium point except some special inital states. The Caplygin system is a class of nonholonomic systems and is widely applied in mechanical systems rather than the chained system. The two inputs three states Caplygin system can be stabilized by the proposed contol law which is piecewise analytic and time-variant state feedback.
