Linear controllers for tracking chained-form systems

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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
Number of pages387
ISBN (Print)978-1852336387
Publication statusPublished - 1999

Publication series

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


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