JEE_V1_N2_A2 Sabiha Amin Wadoo Pushkin Kachroo Journal on Electrical Engineering 2230 – 7176 1 2 14 29 Nonholonomic systems, chained form, controllability, trajectory tracking, feedback control, kinematic system In this paper we consider and solve the motion planning problem for an underwater vehicle. The nonlinear control system is referred to as nonholonomic system due to nonintegrability of its generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. Controllability results for this nonholonomic system are presented. The paper presents design of a feedback control law for the trajectory tracking. For the design of feedback controller, the system is transformed into chained form. The work presented in this paper is a step towards the study concerning the applicability of kinematic-based control on underwater vehicles. October - December 2007 Copyright © 2007 i-manager publications. All rights reserved. i-manager Publications http://www.imanagerpublications.com/Article.aspx?ArticleId=433