Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers. (23rd August 2011)

• Record Type: Journal Article
• Authors: Ma, Bao-Li
• Other Names: Muscato G. Academic Editor.
• Is Part Of: Journal of robotics. Volume 2011(2011)
• Publication Date: 2011-08-23
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2011/697309
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : 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.