Title :
Discontinuous control design for the stabilization of nonholonomic systems in chained form using the backstepping approach
Author :
Tayebi, A. ; Tadjine, M. ; Rachid
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, France
Abstract :
This paper presents a new systematic way, based on the backstepping approach, to design discontinuous time-invariant state feedback controllers for exponential stabilization of nonholonomic systems in chained form. The enclosed simulation results show the effectiveness of the proposed controller
Keywords :
asymptotic stability; closed loop systems; control system synthesis; mobile robots; nonlinear control systems; robot kinematics; sampled data systems; state feedback; backstepping approach; discontinuous time-invariant state feedback controllers; exponential stabilization; nonholonomic systems; Adaptive control; Automatic control; Backstepping; Control design; Control systems; Kinematics; Nonlinear systems; Open loop systems; State feedback; Switches;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657924
