• DocumentCode
    1664135
  • Title

    Stabilization of a nonholonomic system via sliding modes

  • Author

    Bloch, Anthony ; Drakunov, Sergey

  • Author_Institution
    Dept. of Math., Michigan Univ., Ann Arbor, MI, USA
  • Volume
    3
  • fYear
    1994
  • Firstpage
    2961
  • Abstract
    Uses an approach based on sliding mode control to design a feedback which stabilizes the origin for a class of nonlinear driftless systems of the form x˙=B(x)u. introduced by Brockett (1993). Brockett showed that these systems fail his necessary condition for the existence of smooth feedback
  • Keywords
    control system synthesis; feedback; nonlinear control systems; stability; variable structure systems; nonholonomic system; nonlinear driftless systems; sliding mode control; smooth feedback; stabilization; Control systems; Laboratories; Lyapunov method; Mathematics; Nonlinear control systems; Prototypes; Sliding mode control; State feedback; State-space methods; Stochastic processes;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
  • Conference_Location
    Lake Buena Vista, FL
  • Print_ISBN
    0-7803-1968-0
  • Type

    conf

  • DOI
    10.1109/CDC.1994.411342
  • Filename
    411342
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1664135