Trajectory tracking control of chained systems: A new approach
The authors investigate the trajectory tracking problem of the chained control system NEWLINE\[NEWLINE\left\{ \begin{aligned} \dot x_1&=v_1,\\ \dot x_2&=x_3v_1,\\ &\phantom{a}\vdots \\ \dot x_{n-1}&=x_{n}v_1,\\ \dot x_n&=v_2, \\ \end{aligned}\right. \tag{1}NEWLINE\]NEWLINE where \(x=[x_1,\dots,x_n]^T\) is the state and \(v=[v_1, v_2]^{\text{T}}\) is the control input. A new tracking approach is presented. The proposed static tracking can globally design the state of the system which asymptotically track the given trajectory \(y\) which is the solution to a system similar to the system (1). Tracking control of multi-chained system is also considered. An application to a wheeled mobile robot is given. Simulation results show the efficiency of this approach.
- A recursive technique for tracking control of nonholonomic systems in chained form
- Tracking control of second-order chained form systems by cascaded backstepping
- scientific article; zbMATH DE number 475213
- Global K-exponential trackers for nonholonomic chained-form systems based on LMI
- Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system
- Trajectory tracking by cascaded backstepping control for a second-order nonholonomic mechanical system
- Predictive variable structure control of nonholonomic chained systems
- scientific article; zbMATH DE number 475213 (Why is no real title available?)
- scientific article; zbMATH DE number 2012420 (Why is no real title available?)
- Tracking control of second-order chained form systems by cascaded backstepping
- Linear controllers for exponential tracking of systems in chained-form
- Polynomial trajectory generation and tracking for linear systems
- Distributed tracking control of networked chained systems
- Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters
- Tracking control of chained systems: application to nonholonomic unicycle mobile robots
This page was built for publication: Trajectory tracking control of chained systems: A new approach
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2705707)
