Recursive Technique for Tracking Control of Nonholonomic Systems in Chained Form

摘要

In this paper the authors address the tracking problem for a class of211u001enonholonomic chained form control systems. Conditions are given under which the 211u001eproblems of semiglobal tracking and global path following are solved for a 211u001enonholomic system in chained form and its dynamic extension. Results on local 211u001eexponential tracking are also obtained. Two physical examples of an articulated 211u001evehicle and a knife-edge are provided to demonstrate the effectiveness of the 211u001eauthors' algorithm through simulations.