Output Feedback Trackers for Nonholonomic Chained-Form Systems

被引：0

作者：

Cao, Ke-Cai ^{[1
]}

Gao, Xiang ^{[1
]}

机构：

[1] Nanjing Univ Posts & Telecommun, Dept Automat Control, Nanjing 210003, Peoples R China

来源：

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年

关键词：

Trajectory Tracking; Nonholonomic Systems; Cascaded System; Persistent Excitation; Exponential Stability;

D O I：

10.1109/WCICA.2008.4593058

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Global trackers based on output feedback are constructed for nonholonomic systems in chained form. By combining a novel coordinate transformation with the cascade-design method, a reduced-order observer is given first. Then an output-feedback stabilizer is designed with the help of the cascade-design method again for the error-dynamics model under the introduced coordinate transformation. A new feature of the proposed method is that global kappa-exponential tracking is successfully obtained for nonholonomic systems in chained form without the popular condition of persistent excitation or not converging to zero on reference signals. Simulation results are provided to validate the effectiveness of the proposed method.

引用

页码：1004 / 1009

页数：6

共 50 条

[41] Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form
Alamir, M
Marchand, N
PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 2002, : 356 - 361
[42] Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form
Alamir, M
Marchand, N
JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS, 2003, 118 (02) : 229 - 244
[43] Output Synchronization of Systems in Chained Form
Listmann, Kim D.
Woolsey, Craig A.
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 3341 - 3346
[44] Cooperative control design for non-holonomic chained-form systems
Cao, Ke-Cai
Jiang, Bin
Chen, YangQuan
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2015, 46 (09) : 1525 - 1539
[45] Stabilization via iterative state steering with application to chained-form systems
Lucibello, P
Oriolo, G
PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 2614 - 2619
[46] Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
Mobayen, Saleh
NONLINEAR DYNAMICS, 2015, 80 (1-2) : 669 - 683
[47] Improved Finite-Time Disturbance Observer-Based Control of Networked Nonholonomic High-Order Chained-Form Systems
Sarrafan, Neda
Zarei, Jafar
Saif, Mehrdad
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (09): : 5442 - 5453
[48] Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems
Sarrafan, Neda
Zarei, Jafar
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2021, 66 (10) : 4933 - 4938
[49] Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
Saleh Mobayen
Nonlinear Dynamics, 2015, 80 : 669 - 683
[50] Adaptive Output Feedback Control for Nonholonomic Chained Systems with Integral Input State Stability Inverse Dynamics
Li, Yang
Xu, Linxing
Wang, Xiuli
Wang, Cunsong
SENSORS, 2023, 23 (14)

← 1 2 3 4 5 →