Abstract
Global 𝒦-exponential controllers are constructed for the tracking control problem of nonholonomic systems in chained form. Compared to previously published papers, a difference is that the 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 stabilisation problem composed of two simple subsystems. Then the LMI-design approach is developed for the stabilising one of the above two subsystems. Assumptions on the reference signal is much more relaxed than our previous papers. A peculiar character of the presented methodology is that global 𝒦-exponential tracking can be successfully obtained for nonholonomic chained-form systems without the popular condition of persistent excitation or not converging to zero. Simulation results on a unicycle mobile robot and an articulated vehicle are presented to show the validity of the proposed strategy.
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.
