| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723672 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
Global kP-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 a stabilization problem of two simple subsystems. Then, a design approach based on linear matrix inequalities is developed for stabilizing the subsystems. The assumption on the reference signal is much more relaxed than those given in the previous papers.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Yu-Ping Tian, Ke-Cai Cao,