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Linear Controllers for Exponential Tracking of Systems in Chained Form

Publiceringsår: 2000
Språk: Engelska
Sidor: 243-264
Publikation/Tidskrift/Serie: International Journal Of Robust And Nonlinear Control
Volym: 10
Nummer: 4
Dokumenttyp: Artikel


In this paper we address the tracking problem for a class of non-holonomic chained-form control systems. We present a simple solution for both the state feedback and the dynamic output feedback problem. The proposed controllers are linear and render the tracking error dynamics globally 𝒦-exponentially stable. We also deal with both control problems under input saturation. Application of the results to the control of wheeled mobile robots is illustrated by means of simulations of a car pulling a single trailer.



  • Technology and Engineering


  • ISSN: 1049-8923

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