The objective of this paper is to present recent developments in nonholonomic control systems, mainly mobile robots with Pfaffians constraints, so as to give an overview to the beginners in the area. The main tools used to model, to analyze, to make motion planning and trajectory tracking and to guarantee stabilization in an equilibrium point are presented. The development of new tools in controller analysis and design based in nonlinear, hybrid, time varying, and geometric control made possible the control of nonholonomic systems. Application examples, restricted to simulation of differential driven mobile robot (unicycle) control, are given. A comparative analysis between some control techniques and perspectives to the area are also presented.
Nonholonomic systems; nonlinear control; geometric control; control systems
