Global κ-exponential Tracking Control of Nonholonomic Systems in Chained-form by Output Feedback

Linear controllers for exponential track

Linear controllers for exponential tracking of systems in chained-form

✍ E. Lefeber; A. Robertsson; H. Nijmeijer 📂 Article 📅 2000 🏛 John Wiley and Sons 🌐 English ⚖ 168 KB 👁 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