Title :
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
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;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912142
