Title
Output-Feedback Near-Optimal Control Of Chained Systems
Abstract
In this paper, a new optimal trajectory tracking control is proposed for nonholonomic systems in chained form by using only output feedback information. After establishing a simple condition on the desired trajectory to ensure the uniform complete observability for the tracking error system, a globally and exponentially convergent observer is synthesized in closed form. Then, an output-feedback near-optimal control is obtained also in closed form for real-time implementation, and it is shown to be smooth, globally exponentially stabilizing, and near-optimal. Simulation results are provided to verify its effectiveness. © 2006 IEEE.
Publication Date
12-1-2006
Publication Title
Proceedings of the American Control Conference
Volume
2006
Number of Pages
4975-4980
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
Copyright Status
Unknown
Socpus ID
34047208961 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/34047208961
STARS Citation
Qu, Zhihua; Wang, Jing; Plaisted, Clinton E.; and Hull, Richard A., "Output-Feedback Near-Optimal Control Of Chained Systems" (2006). Scopus Export 2000s. 8099.
https://stars.library.ucf.edu/scopus2000/8099