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

DOI10.1002/rnc.1149zbMath1113.93058OpenAlexW2032773012MaRDI QIDQ3445482

Ke-Cai Cao, Yu-Ping Tian

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) Automated systems (robots, etc.) in control theory (93C85) Transformations (93B17) Control/observation systems governed by ordinary differential equations (93C15) Stability of control systems (93D99)

Related Items (10)

Rendezvous of multiple nonholonomic unicycles-based on backstepping ⋮ Finite-time output feedback stabilisation of chained-form systems with inputs saturation ⋮ Control based on linear algebra for trajectory tracking and positioning of second-order chained form system ⋮ Finite-time cascaded tracking control approach for mobile robots ⋮ Global 𝒦-exponential trackers for nonholonomic chained-form systems based on LMI ⋮ Cooperative control design for non-holonomic chained-form systems ⋮ Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method ⋮ Robust stabilization of extended nonholonomic chained-form systems with dynamic nonlinear uncertain terms by using active disturbance rejection control ⋮ Robust formation tracking control of mobile robots via one-to-one time-varying communication ⋮ Output consensus for multiple non-holonomic systems under directed communication topology

Cites Work

• Discontinuous control of nonholonomic systems

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