Time-varying linear controllers for exponential tracking of non-holonomic systems in chained form

摘要

In this paper, the authors address the tracking problem for non-holonomic systems in chained form with target signals that may exponentially decay to zero. By introducing a time-varying co-ordinate transformation and using the cascade-design approach, smooth time-varying controllers are constructed, which render the tracking-error dynamics globally K-exponentially stable. The result shows that the popular condition of persistent excitation or not converging to zero for the reference signals is not necessary even for the globally K-exponential tracking of the chained-form system. The effectiveness of the proposed controller is validated by simulation of two benchmark mechanical systems under non-holonomic constraints. Copyright (C) 2006 John Wiley & Soils, Ltd.