 Global š¯’¦-exponential trackers for nonholonomic chained-form systems based on LMIKe-Cai Cao International Journal of Systems Science, 2011, vol. 42, issue 12, 1981-1992 Abstract: Global š¯’¦-exponential controllers are constructed for the tracking control problem of nonholonomic systems in chained form. Compared to previously published papers, a difference is that the reference targets are allowed to converge to a point exponentially. By using a novel transformation and the cascade-design method, the tracking control problem is converted into a stabilisation problem composed of two simple subsystems. Then the LMI-design approach is developed for the stabilising one of the above two subsystems. Assumptions on the reference signal is much more relaxed than our previous papers. A peculiar character of the presented methodology is that global š¯’¦-exponential tracking can be successfully obtained for nonholonomic chained-form systems without the popular condition of persistent excitation or not converging to zero. Simulation results on a unicycle mobile robot and an articulated vehicle are presented to show the validity of the proposed strategy. Date: 2011 Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:42:y:2011:i:12:p:1981-1992 Ordering information: This journal article can be ordered from DOI: 10.1080/00207721003706837 Access Statistics for this article International Journal of Systems Science is currently edited by Visakan Kadirkamanathan More articles in International Journal of Systems Science from Taylor & Francis Journals |
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