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Global 𝒦-exponential trackers for nonholonomic chained-form systems based on LMI

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  • Ke-Cai Cao

Abstract

Global 𝒦-exponential controllers are constructed for the tracking control problem of nonholonomic systems in chained form. Compared to previously published papers, a difference is that the reference targets are allowed to converge to a point exponentially. By using a novel transformation and the cascade-design method, the tracking control problem is converted into a stabilisation problem composed of two simple subsystems. Then the LMI-design approach is developed for the stabilising one of the above two subsystems. Assumptions on the reference signal is much more relaxed than our previous papers. A peculiar character of the presented methodology is that global 𝒦-exponential tracking can be successfully obtained for nonholonomic chained-form systems without the popular condition of persistent excitation or not converging to zero. Simulation results on a unicycle mobile robot and an articulated vehicle are presented to show the validity of the proposed strategy.

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  • Ke-Cai Cao, 2011. "Global 𝒦-exponential trackers for nonholonomic chained-form systems based on LMI," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(12), pages 1981-1992.
    • Handle: RePEc:taf:tsysxx:v:42:y:2011:i:12:p:1981-1992
    DOI: 10.1080/00207721003706837
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    Cited by:

    1. Dongkai Zhang & Chaoli Wang & Guoliang Wei & Hengjun Zhang & Hua Chen, 2014. "State-feedback stabilisation for stochastic non-holonomic mobile robots with uncertain visual servoing parameters," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(7), pages 1451-1460, July.

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