Nonholonomic Systems In Chained Form Research Articles

Robust exponential regulation of nonholonomic systems with uncertainties

This paper deals with nonholonomic control systems in chained form with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state and output feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with nonholonomic systems. The systematic strategy involves the introduction of a state-scaling technique and the application of the so-called integrator backstepping procedure. For the output feedback case, an interlaced observer/controller scheme is introduced for nonholonomic systems design. While earlier controllers fail to maintain robustness in the face of small disturbances, the simulation results based on some practical examples demonstrate the efficiency and robust features of the method proposed in this paper.

Further results on tracking control of nonholonomic chained systems

In this paper we deal with the state-feedback tracking control problem for a class of nonholonomic dynamic systems in chained form. By means of the recursive technique proposed in our recent work, we first show that the semiglobal exponential tracking can be easily obtained for systems in chained form. Then, we show that, whenever the control inputs are subject to saturation constraints, a semiglobal asymptotic tracking controller can be found on the basis of Lyapunov redesign and backstepping techniques.

A recursive technique for tracking control of nonholonomic systems in chained form

The authors address the tracking problem for a class of nonholonomic chained form control systems. A recursive technique is proposed which appears to be an extension of the currently popular integrator backstepping idea to the tracking of nonholonomic control systems. Conditions are given under which the problems of semiglobal tracking and global path-following are solved for a nonholonomic system in chained form and its dynamic extension. Results on local exponential tracking are also obtained. Two physical examples of an articulated vehicle and a knife edge are provided to demonstrate the effectiveness of our algorithm through simulations.

Exponential Stabilization of High-Order Chained Systems

The stabilization problem of nonholonomic systems in high-order chained form is considered. Discontinuous state feedback control laws are constructed to exponentially stabilize these systems to the origin. The proposed design method is applied to an underactuated manipulator, an underactuated surface vessel and a mobile robot driven by DC-motors. Simulation results show the effectiveness of our approach.