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Linear Controllers for Exponential Tracking of Systems in Chained Form

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Author

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.

Publishing year

2000

Language

English

Pages

243-264

Publication/Series

International Journal of Robust and Nonlinear Control

Volume

10

Issue

4

Document type

Journal article

Publisher

John Wiley & Sons Inc.

Topic

  • Control Engineering

Status

Published

ISBN/ISSN/Other

  • ISSN: 1099-1239