Output feedback tracking of nonholonomic systems in chained form

E. Lefeber; A. Robertsson; H. Nijmeijer

doi:10.23919/ECC.1999.7099662

Output feedback tracking of nonholonomic systems in chained form

E. Lefeber, A. Robertsson, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type” of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable.

Original language	English
Title of host publication	1999 European Control Conference (ECC)
Place of Publication	Los Alamitos, CA
Publisher	IEEE
Pages	2288-2293
Number of pages	6
ISBN (Print)	978-3-9524173-5-5
DOIs	https://doi.org/10.23919/ECC.1999.7099662
Publication status	Published - 1999
Event	1999 European Control Conference, ECC 1999 - Karlsruhe, Germany Duration: 31 Aug 1999 → 3 Sept 1999

Conference

Conference	1999 European Control Conference, ECC 1999
Abbreviated title	ECC
Country/Territory	Germany
City	Karlsruhe
Period	31/08/99 → 3/09/99

Keywords

n/a OA procedure

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10.23919/ECC.1999.7099662

Cite this

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title = "Output feedback tracking of nonholonomic systems in chained form",

abstract = "In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type” of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable.",

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T1 - Output feedback tracking of nonholonomic systems in chained form

AU - Lefeber, E.

AU - Robertsson, A.

AU - Nijmeijer, H.

PY - 1999

Y1 - 1999

N2 - In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type” of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable.

AB - In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type” of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable.

KW - n/a OA procedure

U2 - 10.23919/ECC.1999.7099662

DO - 10.23919/ECC.1999.7099662

M3 - Conference contribution

SN - 978-3-9524173-5-5

SP - 2288

EP - 2293

BT - 1999 European Control Conference (ECC)

PB - IEEE

CY - Los Alamitos, CA

T2 - 1999 European Control Conference, ECC 1999

Y2 - 31 August 1999 through 3 September 1999

ER -

Output feedback tracking of nonholonomic systems in chained form

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