Full state tracking of a four-wheel-steering vehicle based on output tracking control strategies

被引：0
|
作者：
Xu, Guangyan [1 ]
Wang, Danwei [2 ]
机构：
[1] Shenyang Inst Aeronaut Engn, Dept Automat, Shenyang, Peoples R China
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
来源：
2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5 | 2006年
关键词：
full-state tracking; four wheel-steering vehicle; nonholonomic dynamics;
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：
In this paper, the stable full-state tracking problem of a four-wheel-steering vehicle based on the output tracking strategies are investigated. Dynamics of such vehicle is nonholonomic and pose challenging problems for control design and the stability analysis. The dynamics formulated in terms of full state tracking errors offer some properties that allow better understanding of internal and zero dynamics of the tracking error system. Sufficient conditions are derived to ensure the stability of the internal dynamics. We show that the stability of the internal dynamics is mainly guaranteed by suitably defining output function and by suitably confining the behavior of the desired trajectory. Since sufficient conditions to confine the desired trajectory behavior are rather mild, we conclude that the output tracking control laws can be applied very well to solve the full-state tracking problem of a nonholonomic four-wheel-steering vehicle.
引用
收藏
页码：407 / +
页数：2
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