A Time-varying Cascaded Design for Trajectory Tracking Control of Nonholonomic Systems

作     者：Cao KeCai,Tian YuPing Department of Automatic control, Southeast University,Nanjing,210096 ,China 

会议名称：《第25届中国控制会议》

会议日期：2006年

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：This work was supported by the National Natural Science Foundation of China for Distinguished Young Scholars (under the grant 60425308) and the Doctoral Research Foundation of the Educational Ministry of China (under the grant 20040286004) 

关 键 词：Trajectory Tacking Nonholonomic Systems Cascaded System Persistent Excitation Exponential Stability 

摘      要：正This paper deals with the tracking control problem for a general class of nonholonomic dynamic systems with reference signals that may exponentially decay. By introducing a time-varying coordinate transformation and using the cascade-design approach, smooth time-varying controllers are constructed, which render the tracking error dynamics globally k-exponentially stable. Obtained result shows that the popular condition of persistent-excitation or not converging to zero imposed on the reference signals is not necessary even for the globally k-exponential tracking of nonholonomic systems. Application to the tracking control of an underactuacted surface vessel validates the effectiveness of the proposed method.