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

DOI10.1002/RNC.709MaRDI QIDQ4797953zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

cascaded backstepping controlcascaded systemsexplicit solutionflatnessintegratorspersistent excitationplanar PPR manipulatorsecond-order chained non-holonomic systemstability of tracking-error dynamicsunderactuated systems

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)

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Cites work

• scientific article; zbMATH DE number 1361605 (Why is no real title available?)
• 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

Cited in

(14)

• Control based on linear algebra for trajectory tracking and positioning of second-order chained form system
• Stabilization and tracking control for an extended Heisenberg system with a drift
• Trajectory tracking control of chained systems: A new approach
• Universal practical tracking control of a planar underactuated vehicle
• Nonlinear control of a robot manipulator with a nonholonomic jerk constraint
• Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system
• Robust control for uncertain nonlinear systems with state-dependent control direction
• A time-varying cascaded design for trajectory tracking control of non-holonomic systems
• scientific article; zbMATH DE number 2012420 (Why is no real title available?)
• 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
• Adaptive recurrent neural network control of uncertain constrained nonholonomic mobile manipulators
• The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory
• Adaptive dynamic surface control of MIMO nonlinear systems: a hybrid event triggering mechanism

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