Output feedback tracking of nonholonomic systems in chained form

Author

Lefeber, E. ; Robertsson, A. ; Nijmeijer, H.

Author_Institution

Dept. of Syst., Signals, & Control., Univ. of Twente, Enschede, Netherlands

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

2288

Lastpage

2293

Abstract

In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type” of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable.

Keywords

asymptotic stability; cascade systems; closed loop systems; observers; state feedback; time-varying systems; cascaded system approach; certainty equivalence type; chained form system; closed loop system; globally K-exponentially stability; nonholonomic systems; observer; output feedback tracking; stability analysis; time-varying state feedback controller; Closed loop systems; Observers; Output feedback; Polynomials; State feedback; Time-varying systems; Trajectory; cascaded systems; chained form; output feedback control; tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099662