Tracking controller of extended chained nonholonomic systems with matched disturbance and input saturation

Abstract This paper addresses the tracking control for an extended chained nonholonomic system under input saturation and matched disturbances. Specifically, the tracking error dynamic system is split into two subsystems in a cascade form. An integral sliding mode saturated controller is designed in...

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Bibliographic Details
Main Authors: Peng Huang, Yang Gao, Zhongcai Zhang
Format: Article
Language:English
Published: Wiley 2024-04-01
Series:IET Control Theory & Applications
Subjects:
Online Access:https://doi.org/10.1049/cth2.12607