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Hi Waseem - do you have a specific problem in mind, or is this a general topic of interest for you? Depending on the problem, a practical approach may be to break it into a hierarchy, where stable control is at the bottom and a path-planning algorithm sits somewhere above. I.e. plan a trajectory to the desired pose, then perform a controlled maneuver to reach it.
One of the most widely used textbooks on nonholonomic systems is the book by Anthony Bloch, "Nonholonomic mechanics and control" that has been already mentionned and that adopts a geometric approach. Concerning the modeling of constrained (holonomic or nonholonomic) systems, a different, but very interesting, approach is presented in the book by Fridaus E. Udwadia and Robert E. Kalaba, "Analytical Dynamics: A New Approach". These authors have also worked on the related stabilization problems but their results appear only in research articles and not in a textbook (at least to my knowledge). Finally, a classical textbook from the russian literature is the book by Neimark, Y. & Fufaev, N.A., "Dynamics of nonholonomic systems", 1972.
If you have a specific problem at hand, it would be possible to provide you also with the references of some related scientific papers as well.