Lyapunov design of global state and output feedback trackers for non-holonomic control systems
- 1 January 2000
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 73 (9) , 744-761
- https://doi.org/10.1080/00207170050029250
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.Keywords
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