Proceedingsofthe1998IEEEInternationalConferenceonRobotics&AutomationLeuven,,France{florent,jpl}***@’scondition[2]madestabilizationaboutagivenconfigurationachallengingtaskforsuchsystems,-varyingfeedback[l0,4,11,13,14,15,18]ordiscontinuousfeedback[3][5],trackingatrajectoryforanonholonomicsystemdoesnotmeetBrockett’[6,7,8,12,16]:.[l]howeverproposedamethodtostabilizeacaraboutaconfiguration,robusttocontrolvectorfieldsperturbations,,weproposearobustschemebasedoniterativetrajectorytracking,[17]’tgiveanydevelopmentaboutthisplanner,,[l].anizedasfoll
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