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Practical stabilizability of uncertain dynamical systems: Application to robotic tracking

✍ Scribed by E. P. Ryan; G. Leitmann; M. Corless

Book ID
105013455
Publisher
Springer
Year
1985
Tongue
English
Weight
797 KB
Volume
47
Category
Article
ISSN
0022-3239

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Robust tracking control of nonholonomic
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A tracking controller for nonholonomic dynamic systems is proposed which allows global tracking of arbitrary reference trajectories and renders the closed loop system robust with respect to bounded disturbances. The controller is based on [Chwa, D. (2004). Sliding-mode tracking control of nonholonom