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Linear Controllers for Exponential Tracking of Systems in Chained Form

Lefeber, E. ; Robertsson, Anders LU and Nijmeijer, H. (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:
author
; and
organization
publishing date
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 &amp;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}},
}