A recursive technique for tracking control of nonholonomic systems in chained form
作者： Zhong-Ping Jiang , H. Nijmeijer
DOI: 10.1109/9.746253
关键词:
摘要: The authors address the tracking problem for a class of nonholonomic chained form control systems. A recursive technique is proposed which appears to be an extension currently popular integrator backstepping idea Conditions are given under problems semiglobal and global path-following solved system in its dynamic extension. Results on local exponential also obtained. Two physical examples articulated vehicle knife edge provided demonstrate effectiveness our algorithm through simulations.
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