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In the presented work, the practical trajectory tracking controller is designed for a kind of nonholonomic system under full state constraints. Firstly, a finite-time tracking controller is proposed to drive the action of relay switching which divides the entire control process into two stages. Then, using state transformations, the remaining error original system is converted into an unconstrained system for which the tracking controller is designed based on dynamic surface control. Meanwhile, another tracking control law is also addressed to ensure the boundedness of tracking errors before the action of switching. In stability analysis, it has been shown that the developed tracking control strategy can achieve the desired tracking control objectives and the predefined full state constraints. At the same time, all signals keep bounded in the whole control process. Simulation results are provided finally to demonstrate the effectiveness of the tracking control algorithm.

Trajectory Tracking Control for State-Constrained Nonholonomic Chained System via Dynamic Surface Control