Time-varying linear controllers for exponential tracking of non-holonomic systems in chained form

DOI10.1002/RNC.1149MaRDI QIDQ3445482zbMATH OpenOpenAlexFDO

Authors Yu-Ping Tian, Ke-Cai Cao

Publication date 11 June 2007

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.1149

zbMATH Keywords

exponential convergencetrajectory trackingpersistence of excitationnon-holonomic systemschained-form systems

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99) Transformations (93B17)

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Cites work

• Discontinuous control of nonholonomic systems

Cited in

(16)

• Non-uniform in time stabilization for linear systems and tracking control for non-holonomic systems in chained form
• Output consensus for multiple non-holonomic systems under directed communication topology
• Robust stabilization of extended nonholonomic chained-form systems with dynamic nonlinear uncertain terms by using active disturbance rejection control
• Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
• Global \(\mathcal{K}\)-exponential tracking control of nonholonomic systems in chained-form by output feedback
• Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator
• Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
• Cooperative control design for non-holonomic chained-form systems
• Finite-time output feedback stabilisation of chained-form systems with inputs saturation
• Robust formation tracking control of mobile robots via one-to-one time-varying communication
• Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control
• Global \(\mathcal K\)-exponential trackers for nonholonomic chained-form systems based on LMI
• Rendezvous of multiple nonholonomic unicycles-based on backstepping
• Control based on linear algebra for trajectory tracking and positioning of second-order chained form system
• A time-varying cascaded design for trajectory tracking control of non-holonomic systems
• Finite-time cascaded tracking control approach for mobile robots

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