A Suboptimal Tracking Control for a Calss of Nonholonomic Chained Systems
In this paper, a suboptimal and asymptotic stability tracking control is proposed for a class of nonholonomic chained systems. Design of the preliminary control is obtained by a successive approximation approach for two subsystems decoupled from the original tracking error systems, one is an approximate system, the other is relied on the first completely. By using finite-step iteration sequence for the approximate system with the least square index performance, we can obtain an optimal control law. Furthermore, a suboptimal controller with arbitrarily small cost for the original systems is presented based on the previous results and its asymptotic stability can be proved.
suboptimal control nonholonomic chained systems iteration sequence asymptotic stability
Hua Chen Xiangbing Wang
Hohai University Mathematics and Physics Department Changzhou Campus Changzhou, P.R.C., 213022 and Jianfeng Li University of Shanghai for Science and Technology Business School
国际会议
重庆
英文
1491-1494
2011-08-20（万方平台首次上网日期，不代表论文的发表时间）