In this paper, the tracking problem of dynamic nonholonomic systems is investigated. By separately considering kinematic and dynamic models of a nonholonomic system, a new real-time near-optimal control is proposed based on the backstep-ping design. Besides being implementable online, the proposed control has the property that its closeness to the optimal control obtained off-line and numerically can be measured and monitored. To show its effectiveness, the proposed control is simulated for a unicycle wheeled mobile robot.
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