This paper proposes a control method based on time-state control form with a nonlinear state control part for nonholonomic systems with dynamics. This method enables us to control a more general class of the systems guaranteeing all the states to converge to the origin than that of the previous work. First, a control law is proposed, and the convergence of the states and the boundedness of the inputs are analyzed. Next, the effectiveness of the control law is confirmed by numerical simulation.
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