A recursive technique for tracking control of nonholonomic systems in chained form

DOI10.1109/9.746253zbMath0978.93046MaRDI QIDQ4506664

Zhong-Ping Jiang, Henk Nijmeijer

Publication date: 17 October 2000

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.746253

zbMATH Keywords

tracking; mechanical systems; backstepping; nonholonomic constraints; semiglobal tracking; nonholonomic control systems in chained form

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

70Q05: Control of mechanical systems

70E60: Robot dynamics and control of rigid bodies

70F25: Nonholonomic systems related to the dynamics of a system of particles

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