Design of Observer and Stabilizing Controller for Nonholonomic Systems in High-order Chained Form

Approach Based on Coordinate Transformation and Sampled-data Control

Abstract

This paper proposes new state/output feedback control systems based on coordinate transformations and sampled data control for a class of nonholonomic systems in high-order chained form. Our novel approach is the discretization of the chained systems with a zero order hold and a sampler and is the use of time-varying coordinate transformations to transform the discretized systems into linear time-invariant discrete-time systems. The problems of finding state feedback controllers and observer based dynamic output feedback controllers to stabilize the chained systems are reduced to the well-known pole assignment problems for controllable linear time-invariant discrete-time systems. As a result, the proposed design methods are simple and straightforward. Some simulations are performed to validate the effectiveness of the proposed controllers.