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Linear controllers for exponential tracking of systems in chained-form

โœ Scribed by E. Lefeber; A. Robertsson; H. Nijmeijer

Publisher
John Wiley and Sons
Year
2000
Tongue
English
Weight
168 KB
Volume
10
Category
Article
ISSN
1049-8923

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โœฆ Synopsis

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-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.

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EXPONENTIAL STABILITY AND GUARANTEED TRA
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In this note the concept of the tracking time, a measure of the transient behaviour, for model reference control systems is introduced. A model reference composite state feedback control is proposed to guarantee the global exponential stability with any pre-specified convergence rate for a class of