Lyapunov design of global state and output feedback trackers for non-holonomic control systems

Research output: Contribution to journalArticle

Abstract

In this paper, new results are obtained for the global tracking of a class of non-holonomic dynamic systems via state and output feedback. The tracking controllers are systematically constructed on the basis of a recursive technique and a full exploitation of the system structure. When disturbances occur in a non-holonomic chained system, it is shown how to modify the controller design procedure to yield robust tracking control laws. The proposed method is demonstrated and discussed by means of a benchmark non-holonomic knife-edge mechanical system.

Original languageEnglish (US)
Pages (from-to)744-761
Number of pages18
JournalInternational Journal of Control
Volume73
Issue number9
StatePublished - Jun 15 2000

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Control systems
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  • Control and Systems Engineering

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Lyapunov design of global state and output feedback trackers for non-holonomic control systems. / Jiang, Zhong-Ping.

In: International Journal of Control, Vol. 73, No. 9, 15.06.2000, p. 744-761.

Research output: Contribution to journalArticle

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