• DocumentCode
    2100786
  • Title

    Nonholonomic systems and exponential convergence: some analysis tools

  • Author

    Closkey, Robert T M ; Murray, Richard M.

  • Author_Institution
    Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
  • fYear
    1993
  • fDate
    15-17 Dec 1993
  • Firstpage
    943
  • Abstract
    In this paper the authors make a contribution to the analysis of nonholonomic systems with exponential rates of convergence. A key idea is the use of control laws which render the closed loop system homogeneous with respect to a dilation. The analysis is applied to nonholonomic systems in power form and consists of two steps. The first step is a reduction to an invariant set and then the application of an averaging result. The averaging theorem is a stability result for C0 homogeneous order zero vector fields
  • Keywords
    closed loop systems; control system analysis; convergence; feedback; nonlinear control systems; stability; C0 homogeneous order zero vector fields; analysis tools; averaging theorem; closed loop system; dilation; exponential convergence; invariant set; nonholonomic systems; stability; Closed loop systems; Control systems; Convergence; Geometry; Mechanical engineering; Mechanical systems; Nonlinear control systems; Nonlinear systems; Stability analysis; State feedback;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
  • Conference_Location
    San Antonio, TX
  • Print_ISBN
    0-7803-1298-8
  • Type

    conf

  • DOI
    10.1109/CDC.1993.325324
  • Filename
    325324
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2100786