In this paper we study the tracking problem for the class of nonholonomic systems in chained-form. In particular, with the first and the last state component of the chained-form as measurable output signals, we suggest a solution for the tracking problem using output feedback 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.
|Title of host publication||Stability and stabilization of nonlinear systems|
|Editors||D. Aeyels, F. Lamnabhi-Lagarrigue, A.J. Schat, van der|
|Place of Publication||London, United Kingdom|
|Number of pages||387|
|Publication status||Published - 1999|
|Name||Lecture Notes in Control and Information Sciences|