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 t...Show MoreMetadata
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.
Published in: 1999 European Control Conference (ECC)
Date of Conference: 31 August 1999 - 03 September 1999
Date Added to IEEE Xplore: 04 May 2015
Print ISBN:978-3-9524173-5-5
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