A recursive technique for tracking control of nonholonomic systems in chained form

Author

Jiang, Zhong-Ping ; Nijmeijer, Henk

Author_Institution

Dept. of Electr. Eng., Sydney Univ., NSW, Australia

Volume

44

Issue

2

fYear

1999

fDate

2/1/1999 12:00:00 AM

Firstpage

265

Lastpage

279

Abstract

The authors address the tracking problem for a class of nonholonomic chained form control systems. A recursive technique is proposed which appears to be an extension of the currently popular integrator backstepping idea to the tracking of nonholonomic control systems. Conditions are given under which the problems of semiglobal tracking and global path-following are solved for a nonholonomic system in chained form and its dynamic extension. Results on local exponential tracking are also obtained. Two physical examples of an articulated vehicle and a knife edge are provided to demonstrate the effectiveness of our algorithm through simulations

Keywords

asymptotic stability; closed loop systems; control system synthesis; feedback; nonlinear control systems; position control; time-varying systems; articulated vehicle; chained form systems; global path-following; knife edge; local exponential tracking; nonholonomic systems; recursive technique; semiglobal tracking; tracking control; Backstepping; Control systems; Feedback; Helium; Mechanical systems; Mobile robots; Nonlinear control systems; Time varying systems; Vehicle dynamics; Vehicles;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.746253

Filename

746253