DocumentCode
2411968
Title
Nonholonomic control systems: from steering to stabilization with sinusoids
Author
Tee, Andrew R. ; Murray, Richard M. ; Walsh, Greg
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fYear
1992
fDate
1992
Firstpage
1603
Abstract
The authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included
Keywords
control system analysis; controllability; feedback; kinematics; nonlinear control systems; stability; automobile; chained form systems; control law; controllable nonlinear systems; feedback transformation; globally asymptotically stabilizing; kinematic model; nonholonomic control systems; saturation functions; sinusoids; steering; Automobiles; Control systems; Equations; Feedback; Frequency; Kinematics; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Open loop systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location
Tucson, AZ
Print_ISBN
0-7803-0872-7
Type
conf
DOI
10.1109/CDC.1992.371456
Filename
371456
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