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Linear controllers for exponential tracking of systems in chained‐form
Author(s) -
Lefeber E.,
Robertsson A.,
Nijmeijer H.
Publication year - 2000
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(20000415)10:4<243::aid-rnc472>3.0.co;2-p
Subject(s) - linear control systems , engineering , technical university , control (management) , library science , operations research , control system , mechanical engineering , computer science , artificial intelligence , electrical engineering
In this paper we address the tracking problem for a class of non‐holonomic chained‐form control systems. We present a simple solution for both the state feedback and the dynamic output feedback problem. The proposed controllers are linear and render the tracking error dynamics globally ‐exponentially stable. We also deal with both control problems under input saturation. Application of the results to the control of wheeled mobile robots is illustrated by means of simulations of a car pulling a single trailer. Copyright © 2000 John Wiley & Sons, Ltd.