Further results on tracking control of nonholonomic chained systems

Zhong-Ping Jiang; Henk Nijmeijer

doi:10.1016/S1474-6670(17)56198-4

Further results on tracking control of nonholonomic chained systems

Zhong-Ping Jiang, Henk Nijmeijer^*

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › Academic › peer-review

Abstract

In this paper we deal with the state-feedback tracking control problem for a class of nonholonomic dynamic systems in chained form. By means of the recursive technique proposed in our recent work, we first show that the semiglobal exponential tracking can be easily obtained for systems in chained form. Then, we show that, whenever the control inputs are subject to saturation constraints, a semiglobal asymptotic tracking controller can be found on the basis of Lyapunov redesign and backstepping techniques.

Original language	English
Pages (from-to)	1172-1177
Journal	IFAC proceedings volumes
Volume	32
Issue number	2
DOIs	https://doi.org/10.1016/S1474-6670(17)56198-4
Publication status	Published - 1999
Event	14th IFAC World Congress 1999 - Beijing, China Duration: 5 Jul 1999 → 9 Jul 1999 Conference number: 14

Keywords

n/a OA procedure

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10.1016/S1474-6670(17)56198-4

Cite this

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title = "Further results on tracking control of nonholonomic chained systems",

abstract = "In this paper we deal with the state-feedback tracking control problem for a class of nonholonomic dynamic systems in chained form. By means of the recursive technique proposed in our recent work, we first show that the semiglobal exponential tracking can be easily obtained for systems in chained form. Then, we show that, whenever the control inputs are subject to saturation constraints, a semiglobal asymptotic tracking controller can be found on the basis of Lyapunov redesign and backstepping techniques.",

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AU - Nijmeijer, Henk

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AB - In this paper we deal with the state-feedback tracking control problem for a class of nonholonomic dynamic systems in chained form. By means of the recursive technique proposed in our recent work, we first show that the semiglobal exponential tracking can be easily obtained for systems in chained form. Then, we show that, whenever the control inputs are subject to saturation constraints, a semiglobal asymptotic tracking controller can be found on the basis of Lyapunov redesign and backstepping techniques.

KW - n/a OA procedure

U2 - 10.1016/S1474-6670(17)56198-4

DO - 10.1016/S1474-6670(17)56198-4

M3 - Conference article

SN - 1474-6670

VL - 32

SP - 1172

EP - 1177

JO - IFAC proceedings volumes

JF - IFAC proceedings volumes

IS - 2

T2 - 14th IFAC World Congress 1999

Y2 - 5 July 1999 through 9 July 1999

ER -

Further results on tracking control of nonholonomic chained systems

Abstract

Keywords

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