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This paper deals with the tracking control problem for a general class of nonholonomic dynamic systems with reference signals that may exponentially decay. By introducing a time-varying coordinate transformation and using the cascade-design approach, smooth time-varying controllers are constructed, which render the tracking error dynamics globally K-exponentially stable. Obtained result shows that...
A general dynamic model is proposed for describing a large class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc. By introducing an assistant state variable and a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into linear time-varying control...
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