Control of the high-order chained form system

Abstract

In this paper, we propose two controllers for stabilization of the nonholonomic systems in high order chained form. One is a TVDC(time varying deadbeat control) which was developed based on a deadbeat control for time varying discrete time systems. The other is a integrator backstepping controller that yields asymptotic convergence of the states to the origin. Proposed control strategies are applied to the posture control of an underactuated manipulator in order to verify effectiveness of the control algorithm.