An LMI Design of Tracking Controllers for Nonholonomic Chained-Form System

Global K-exponential controllers are constructed for the tracking control problem of nonholonomic systems in chained-form whose reference targets are allowed to converge to a point exponentially. By using a novel transformation and the cascade-design method, the tracking control problem is converted into stabilization problem of two simple subsystems. Then an LMI design approach is developed for stabilizing subsystems. The assumption on the reference signal is much more relaxed than those given in the previous papers.