Tracking control of second-order chained form systems by cascaded backstepping

DOI10.1002/RNC.709zbMATH Open1011.93051OpenAlexW2095178535MaRDI QIDQ4797953FDOQ4797953

Authors: Nnaedozie P. I. Aneke, A. G. de Jager, H. Nijmeijer 

Publication date: 10 March 2003

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.709

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zbMATH Keywords

explicit solutionflatnessunderactuated systemscascaded systemsintegratorspersistent excitationcascaded backstepping controlplanar PPR manipulatorsecond-order chained non-holonomic systemstability of tracking-error dynamics

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Cites Work

• The notion of \(V\)-detectability and stabilization of invariant sets of nonlinear systems
• Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system
• Title not available (Why is that?)

Cited In (14)

• Adaptive dynamic surface control of MIMO nonlinear systems: a hybrid event triggering mechanism
• Title not available (Why is that?)
• Robust control for uncertain nonlinear systems with state-dependent control direction
• Universal practical tracking control of a planar underactuated vehicle
• The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory
• Controllability and stabilizability of a class of systems with higher-order nonholonomic constraints
• Global \(\mathcal K\)-exponential trackers for nonholonomic chained-form systems based on LMI
• Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators
• Stabilization and tracking control for an extended Heisenberg system with a drift
• 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
• Nonlinear control of a robot manipulator with a nonholonomic jerk constraint
• Trajectory tracking control of chained systems: A new approach
• Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system

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