Linear controllers for tracking chained-form systems

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Abstract

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.
Original languageEnglish
Title of host publicationStability and stabilization of nonlinear systems
EditorsD. Aeyels, F. Lamnabhi-Lagarrigue, A.J. Schat, van der
Place of PublicationLondon, United Kingdom
PublisherSpringer
Pages183-199
Number of pages387
ISBN (Print)978-1852336387
DOIs
Publication statusPublished - 1999

Publication series

NameLecture Notes in Control and Information Sciences
Volume246
ISSN (Print)0170-8643

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Controllers
State feedback
Closed loop systems
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Lefeber, A. A. J., Robertsson, A., & Nijmeijer, H. (1999). Linear controllers for tracking chained-form systems. In D. Aeyels, F. Lamnabhi-Lagarrigue, & A. J. Schat, van der (Eds.), Stability and stabilization of nonlinear systems (pp. 183-199). (Lecture Notes in Control and Information Sciences; Vol. 246). London, United Kingdom: Springer. https://doi.org/10.1007/1-84628-577-1_10
Lefeber, A.A.J. ; Robertsson, A. ; Nijmeijer, H. / Linear controllers for tracking chained-form systems. Stability and stabilization of nonlinear systems. editor / D. Aeyels ; F. Lamnabhi-Lagarrigue ; A.J. Schat, van der. London, United Kingdom : Springer, 1999. pp. 183-199 (Lecture Notes in Control and Information Sciences).
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Lefeber, AAJ, Robertsson, A & Nijmeijer, H 1999, Linear controllers for tracking chained-form systems. in D Aeyels, F Lamnabhi-Lagarrigue & AJ Schat, van der (eds), Stability and stabilization of nonlinear systems. Lecture Notes in Control and Information Sciences, vol. 246, Springer, London, United Kingdom, pp. 183-199. https://doi.org/10.1007/1-84628-577-1_10

Linear controllers for tracking chained-form systems. / Lefeber, A.A.J.; Robertsson, A.; Nijmeijer, H.

Stability and stabilization of nonlinear systems. ed. / D. Aeyels; F. Lamnabhi-Lagarrigue; A.J. Schat, van der. London, United Kingdom : Springer, 1999. p. 183-199 (Lecture Notes in Control and Information Sciences; Vol. 246).

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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Lefeber AAJ, Robertsson A, Nijmeijer H. Linear controllers for tracking chained-form systems. In Aeyels D, Lamnabhi-Lagarrigue F, Schat, van der AJ, editors, Stability and stabilization of nonlinear systems. London, United Kingdom: Springer. 1999. p. 183-199. (Lecture Notes in Control and Information Sciences). https://doi.org/10.1007/1-84628-577-1_10