Linear Controllers for Exponential Tracking of Systems in Chained Form

Summary, in English

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.

• Författare: E. Lefeber; Anders Robertsson; H. Nijmeijer
• Avdelning/ar: Institutionen för reglerteknik
• Publiceringsår: 2000
• Språk: Engelska
• Sidor: 243-264
• Publikation/Tidskrift/Serie: International Journal of Robust and Nonlinear Control
• Volym: 10
• Issue: 4
• Länkar: http://dx.doi.org/10.1002/(SICI)1099-1239(20000415)10:4<243::AID-RNC472>3.0.CO;2-P
• Dokumenttyp: Artikel i tidskrift
• Förlag: John Wiley & Sons Inc.
• Ämne: Control Engineering
• Status: Published
• ISBN/ISSN/Övrigt: ISSN: 1099-1239