Further results on tracking control of nonholonomic chained systems

Zhong-Ping Jiang, Henk Nijmeijer*

*Corresponding author for this work

    Research output: Contribution to journalConference articleAcademicpeer-review


    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 languageEnglish
    Pages (from-to)1172-1177
    JournalIFAC proceedings volumes
    Issue number2
    Publication statusPublished - 1999
    Event14th IFAC World Congress 1999 - Beijing, China
    Duration: 5 Jul 19999 Jul 1999
    Conference number: 14


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