Title :
Feedback linearization and discontinuous control of second-order nonholonomic chained systems
Author :
Ge, S.S. ; Sun, Z. ; Lee, T.H. ; Spong, Mark W.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
This paper presents a theoretical framework for linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. Simulation studies are carried out to show the effectiveness of the approach
Keywords :
linear systems; redundant manipulators; stability; state feedback; discontinuous control; feedback linearization; inversion technique; linear system; linearization; nonsmooth nonregular feedback linearization; second-order nonholonomic chained systems; stabilization; Acceleration; Control systems; Kinematics; Linear feedback control systems; Linear systems; Manipulators; Nonlinear systems; Robots; State feedback; Vehicle dynamics;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973999
