Global Practical Tracking of Nonholonomic Systems via Sampled-Data Control

Abstract

Nonholonomic systems with uncertain nonlinearity are very important since there are numerous real world applications. Our previous work has constructed a globally stabilizing output feedback controller for nonholonomic systems. In this article, we further study on the global practical tracking of nonholonomic systems via sampled-data control. Under a low triangular linear growth condition, using changing of coordinates, a sampled-data state feedback controller is constructed such that the states are globally bounded. The system can track a uncertain time-variant object in 2.4 seconds within a given tolerance. Examples and simulations illustrate the effectiveness of the proposed controllers.