Global K-exponential tracking control of nonholonomic systems in chained-form by output feedback

DOI10.3724/SP.J.1004.2009.00568MaRDI QIDQ3572233zbMATH OpenFDO

Authors Ke-Cai Cao

Publication date 8 July 2010

Full work available at URL https://doi.org/10.3724/SP.J.1004.2009.00568

zbMATH Keywords

cascaded systemsexponential stabilitynonholonomic systemstrajectory tracking

Mathematics Subject Classification ID

Hierarchical systems (93A13) Feedback control (93B52) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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(8)

• Time-varying linear controllers for exponential tracking of non-holonomic systems in chained form
• A time-varying cascaded design for trajectory tracking control of non-holonomic systems
• A recursive technique for tracking control of nonholonomic systems in chained form
• Lyapunov design of global state and output feedback trackers for non-holonomic control systems
• Tracking control of second-order chained form systems by cascaded backstepping
• scientific article; zbMATH DE number 935559 (Why is no real title available?)
• Global K-exponential trackers for nonholonomic chained-form systems based on LMI
• Linear controllers for exponential tracking of systems in chained-form

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