An LMI design of tracking controllers for nonholonomic chained-form system

被引：0
|
作者：
Tian, Yu-Ping [1 ]
Cao, Ke-Cai [1 ]
机构：
[1] SE Univ, Dept Automat Control, Nanjing 210096, Peoples R China
来源：
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Global K-exponential controllers are constructed for the tracking control problem of nonholonomic systems in chained-form whose 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 stabilization problem of two simple subsystems. Then an LMI design approach is developed for stabilizing subsystems. The assumption on the reference signal is much more relaxed than those given in the previous papers.
引用
收藏
页码：211 / 216
页数：6
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