A Class Of Nonholonomic Systems Tracking Control

In this paper, we mostly investigate the trajectory tracking control problem of a sort of nonhonolomic systems, namely systems in chained-form, and the trajectory tracking problem of a general dynamic nonhonolomic systems where the dynamic subsystem have unknown constant inertia parameters and bounded disturbances.The paper is divided into the following two parts.1. The trajectory tracking control problem of a sort of nonhonolomic chained-form systems.This part presents a state-feedback controller and a dynamic output-feedback controller. The proposed strategy ensures that the closed-loop system is globally uniformly exponen-tially stable. The main ideas in this design procedure are we stable the tracking problem of the first subsystem by the theory of finite-time stability, then through a linear transformation the system turn into a form more easily discussed.2. The trajectory tracking problem of a general dynamic nonhonolomic systems where the dynamic subsystem have unknown constant inertia parameters and bounded distur-bances.In this part we consider the tracking problem of a general dynamic nonhonolomic with unknown constant inertia parameters and bounded disturbances. The mainly method of design process are to neglect the system's dynamics and use the theory of finite-time stability to stable the first subsystem firstly, in this case we design the tracking control law for stabling the system by back-stepping design, then we allow for the system's dynamics and propose the system's state-feedback controller and parameters to improve law.