Abstract
This paper deals with the tracking control problem of a general class of nonholonomic dynamic systems with reference signals that may exponentially decay. By introducing a time-varying coordinate transformation and using the cascaded-design approach, smooth time-varying controllers are constructed, which render the tracking error dynamics globally -exponentially stable. The result shows that the persistent-excitation condition or not coverging to zero for reference signals is not necessary even for the globally -exponential tracking of nonholonomic systems. The proposed method is applied to the tracking control of an underactuated surface vessel.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
