Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers
Author
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-08-23
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Most of drift-less nonholonomic systems cannot be exactly converted to an nonholonomic chained form, a wealth of design tools developed for the control of nonholonomic chained form are thus not directly applicable to such systems.
Nevertheless, there exists a class of systems that may be locally approximated by the nonholonomic chained form around certain equilibrium points.
In this work, we propose a discontinuous and a smooth time-varying control laws respectively for the approximated nonholonomic chained form, guaranteeing local exponential convergence of state to the desired equilibrium point.
An tractor towing off-axle trailers is taken as an example to illustrate the approaches.
American Psychological Association (APA)
Ma, Bao-Li. 2011. Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers. Journal of Robotics،Vol. 2011, no. 2011, pp.1-8.
https://search.emarefa.net/detail/BIM-491431
Modern Language Association (MLA)
Ma, Bao-Li. Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers. Journal of Robotics No. 2011 (2011), pp.1-8.
https://search.emarefa.net/detail/BIM-491431
American Medical Association (AMA)
Ma, Bao-Li. Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-8.
https://search.emarefa.net/detail/BIM-491431
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-491431