Title :
Stabilization of a class of second-order nonholonomic systems
Author :
Ma, B.L. ; Yu, Bin
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
Stabilization problem of a class of second-order nonholonomic systems is studied. The system is shown controllable but not stabilizable by any smooth pure state feedback control law. The state and input feedback transformations are constructed explicitly to convert the system to a second-order nonholonomic chained form. A smooth time-varying control law is derived to exponentially stabilize the obtained second-order chained form. The proposed approach is applied to stabilize several underactuated robot systems.
Keywords :
asymptotic stability; nonlinear systems; robot dynamics; robust control; state feedback; time-varying systems; chained form; exponential stability; nonholonomic systems; nonlinear system; second-order systems; stabilization; state feedback; time-varying systems; underactuated robot systems; Acceleration; Control systems; Controllability; Feedback control; Manipulator dynamics; Position control; Robots; State feedback; Time varying systems; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025333
