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

DOI10.1002/rnc.709zbMath1011.93051OpenAlexW2095178535MaRDI QIDQ4797953

A. G. de Jager, Nnaedozie P. I. Aneke, Henk 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

zbMATH Keywords

explicit solutionflatnesspersistent excitationcascaded systemsunderactuated systemsintegratorscascaded backstepping controlplanar PPR manipulatorsecond-order chained non-holonomic systemstability of tracking-error dynamics

Mathematics Subject Classification ID

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

Related Items (10)

A time-varying cascaded design for trajectory tracking control of non-holonomic systems ⋮ Control based on linear algebra for trajectory tracking and positioning of second-order chained form system ⋮ Controllability and stabilizability of a class of systems with higher-order nonholonomic constraints ⋮ Global 𝒦-exponential trackers for nonholonomic chained-form systems based on LMI ⋮ The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory ⋮ Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators ⋮ Universal Practical Tracking Control of a Planar Underactuated Vehicle ⋮ Stabilization and tracking control for an extended Heisenberg system with a drift ⋮ Robust control for uncertain nonlinear systems with state-dependent control direction ⋮ Nonlinear Control of a Robot Manipulator with a Nonholonomic Jerk Constraint

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
• Unnamed Item

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