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Journal of Robotics
Volume 2011 (2011), Article ID 697309, 8 pages
doi:10.1155/2011/697309
Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers
The Seventh Research Division, BeiHang University, Beijing 100191, China
Received 21 January 2011; Revised 29 April 2011; Accepted 2 June 2011
Academic Editor: G. Muscato
Copyright © 2011 Bao-Li Ma. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract
Most of drift-less nonholonomic systems cannot be exactly converted to an nonholonomic chained form, a wealth of design tools developed for the control of nonholonomic chained form are thus not directly applicable to such systems. Nevertheless, there exists a class of systems that may be locally approximated by the nonholonomic chained form around certain equilibrium points. In this work, we propose a discontinuous and a smooth time-varying control laws respectively for the approximated nonholonomic chained form, guaranteeing local exponential convergence of state to the desired equilibrium point. An tractor towing off-axle trailers is taken as an example to illustrate the approaches.