TY - CHAP
T1 - Linear controllers for tracking chained-form systems
AU - Lefeber, A.A.J.
AU - Robertsson, A.
AU - Nijmeijer, H.
PY - 1999
Y1 - 1999
N2 - 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.
AB - 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.
U2 - 10.1007/1-84628-577-1_10
DO - 10.1007/1-84628-577-1_10
M3 - Chapter
SN - 978-1852336387
T3 - Lecture Notes in Control and Information Sciences
SP - 183
EP - 199
BT - Stability and stabilization of nonlinear systems
A2 - Aeyels, D.
A2 - Lamnabhi-Lagarrigue, F.
A2 - Schat, van der, A.J.
PB - Springer
CY - London, United Kingdom
ER -