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Backstepping-based tracking control of nonholonomic chained systems

Zhong‐Ping Jiang, Henk Nijmeijer

Open publisher page 17 citations

Abstract

We consider the tracking control of chained nonholonomic systems using integrator backstepping techniques. For any a priori given compact set. we can find a tracking controller such that the closed-loop error dynamics are uniformly asymptotically stable with a domain of attraction containing this set. A systematic controller design scheme is proposed via backstepping. Comparisons with previous tracking methods are also made.

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What this paper is about

We consider the tracking control of chained nonholonomic systems using integrator backstepping techniques. For any a priori given compact set. we can find a tracking controller such that the closed-loop error dynamics are uniformly asymptotically stable with a domain of attraction containing this set. A systematic controller design scheme is proposed via backstepping. Comparisons with previous tracking methods are also made.

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OpenAlex reports 17 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

We consider the tracking control of chained nonholonomic systems using integrator backstepping techniques. For any a priori given compact set. we can find a tracking controller such that the closed-loop error dynamics are uniformly asymptotically stable with a domain of attraction containing this set. A systematic controller design scheme is proposed via backstepping. Comparisons with previous tracking methods are also made.

Key concepts: Backstepping, Control theory (sociology), Nonholonomic system, Integrator, Controller (irrigation), Tracking (education), A priori and a posteriori, Tracking error

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