Abstract
| Original language | English |
|---|---|
| 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 |
| Publisher | Springer |
| Pages | 183-199 |
| Number of pages | 387 |
| ISBN (Print) | 978-1852336387 |
| DOIs | |
| Publication status | Published - 1999 |
Publication series
| Name | Lecture Notes in Control and Information Sciences |
|---|---|
| Volume | 246 |
| ISSN (Print) | 0170-8643 |
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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 proceeding › Chapter › Academic › peer-review
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 -