Title :
Backstepping-based tracking control of nonholonomic chained systems
Author :
Zhong-Ping Jiang ; Nijmeijer, Henk
Author_Institution :
Dept. of Electr. Eng., Univ. of Sydney, Sydney, NSW, Australia
Abstract :
We consider the tracking control of chained nonholonomic systems using integrator backstepping techniques. For any a priori given compact set. we can find a tracking controller such that the closed-loop error dynamics are uniformly asymptotically stable with a domain of attraction containing this set. A systematic controller design scheme is proposed via backstepping. Comparisons with previous tracking methods are also made.
Keywords :
asymptotic stability; closed loop systems; control nonlinearities; control system synthesis; nonlinear control systems; backstepping-based tracking control; closed-loop error dynamics; domain-of-attraction; integrator backstepping techniques; nonholonomic chained systems; systematic controller design scheme; uniform asymptotic stability; Backstepping; Closed loop systems; Mobile robots; Systematics; Trajectory; Wheels; Feedback stabilization; backstepping; nonholonomic systems; nonlinear control; tracking;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
