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
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;
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
DOI :
10.1109/CDC.1994.411342
