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Exponentially convergent control laws for nonholonomic systems in power form

โœ Scribed by Jihao Luo; Panagiotis Tsiotras

Book ID
104301186
Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
187 KB
Volume
35
Category
Article
ISSN
0167-6911

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โœฆ Synopsis

This paper introduces a method for constructing exponentially convergent control laws for n-dimensional nonholonomic systems in power form. The methodology is based on the construction of a series of nested invariant manifolds for the closed-loop system under a linear control law. A recursive algorithm is presented which uses these manifolds to construct a three-dimensional system in power form. It is shown that the feedback controller for the original system is the one for this three-dimensional system with proper choice of the gains.

๐Ÿ“œ SIMILAR VOLUMES

Linear controllers for exponential track
Linear controllers for exponential tracking of systems in chained-form
โœ E. Lefeber; A. Robertsson; H. Nijmeijer ๐Ÿ“‚ Article ๐Ÿ“… 2000 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 168 KB ๐Ÿ‘ 1 views

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 K-exponential