Smooth exponential stabilization of nonholonomic systems via time-varying feedback

Author

Tian, Yu-Ping ; Li, Shihua

Author_Institution

Dept. of Autom. Control, Southeast Univ., Nanjing, China

Volume

2

fYear

2000

fDate

2000

Firstpage

1912

Abstract

The problem of global exponential stabilization of a class of nonholonomic systems via smooth time-varying control is addressed. It is shown that smooth aperiodic time-varying controls for globally exponentially stabilizing a nonholonomic system can be easily synthesized if the system is augmented with some auxiliary state(s). The proposed method proves to be effective for a wide class of nonholonomic systems including the chained form system, multiple chained form system, power form system, Brockett system (1983), etc. Simulation examples are introduced to demonstrate the effectiveness of the method

Keywords

asymptotic stability; control system synthesis; feedback; time-varying systems; Brockett system; auxiliary state; global exponential stabilization; multiple chained form system; nonholonomic systems; power form system; smooth aperiodic time-varying control synthesis; smooth exponential stabilization; smooth time-varying control; time-varying feedback; Automatic control; Control system synthesis; Control systems; Convergence; Equations; Feedback; Kinematics; Mechanical systems; Time varying systems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912142

Filename

912142