Linear Controllers for Exponential Tracking of Systems in Chained Form
(2000) In International Journal of Robust and Nonlinear Control 10(4). p.243-264- Abstract
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/162925
- author
- Lefeber, E. ; Robertsson, Anders LU and Nijmeijer, H.
- organization
- publishing date
- 2000
- type
- Contribution to journal
- publication status
- published
- subject
- in
- International Journal of Robust and Nonlinear Control
- volume
- 10
- issue
- 4
- pages
- 243 - 264
- publisher
- John Wiley & Sons Inc.
- external identifiers
-
- scopus:0034166033
- ISSN
- 1099-1239
- DOI
- 10.1002/(SICI)1099-1239(20000415)10:4<243::AID-RNC472>3.0.CO;2-P
- language
- English
- LU publication?
- yes
- id
- 9b6fbd4f-9dbd-496c-a078-328f4c57f21a (old id 162925)
- date added to LUP
- 2016-04-04 08:52:47
- date last changed
- 2022-01-29 07:27:59
@article{9b6fbd4f-9dbd-496c-a078-328f4c57f21a, abstract = {{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 &Kscr;-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.}}, author = {{Lefeber, E. and Robertsson, Anders and Nijmeijer, H.}}, issn = {{1099-1239}}, language = {{eng}}, number = {{4}}, pages = {{243--264}}, publisher = {{John Wiley & Sons Inc.}}, series = {{International Journal of Robust and Nonlinear Control}}, title = {{Linear Controllers for Exponential Tracking of Systems in Chained Form}}, url = {{http://dx.doi.org/10.1002/(SICI)1099-1239(20000415)10:4<243::AID-RNC472>3.0.CO;2-P}}, doi = {{10.1002/(SICI)1099-1239(20000415)10:4<243::AID-RNC472>3.0.CO;2-P}}, volume = {{10}}, year = {{2000}}, }