Title :
Dynamic feedback stabilization of nonholonomic systems
Author :
Khaneja, Navin ; Brockett, Roger
Author_Institution :
Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
Stabilization of nonholonomic systems by time-varying control laws is considered here to be a special case of time-invariant dynamic feedback. The paper presents dynamic feedback laws for stabilization of the class of drift-free controllable systems, where the first derived algebra of control vector fields span the tangent space
Keywords :
controllability; feedback; nonlinear control systems; stability; time-varying systems; control vector fields; drift-free controllable systems; dynamic feedback laws; dynamic feedback stabilization; nonholonomic systems; tangent space; time-invariant dynamic feedback; time-varying control laws; Algebra; Control systems; Controllability; Feedback; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Prototypes; State-space methods; Time varying systems;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830259
