Abstract
This paper collects recent results published in a series of papers and presents new results on stabilization and tracking for nonholonomic dynamic systems. A unified backstepping design methodology is proposed to tackle both the stabilization and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple, while the obtained controllers yield practically acceptable stability properties under moderate control efforts.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2088-2093 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 1999 |
| Event | The 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA Duration: Dec 7 1999 → Dec 10 1999 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization