• DocumentCode
    294315
  • Title

    Stabilization of nonholonomic Chaplygin systems with linear base space dynamics

  • Author

    Kolmanovsky, Ilya ; McClamroch, N.H.

  • Author_Institution
    Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
  • Volume
    1
  • fYear
    1995
  • fDate
    13-15 Dec 1995
  • Firstpage
    27
  • Abstract
    Hybrid feedback controllers are developed for stabilization of nonholonomic Chaplygin systems with linear base space dynamics to an equilibrium. The controllers operate by switching from one periodic input to another at discrete-time instants to achieve stabilization. As an application we consider stabilization of nonholonomic systems in kinematic power form. Hybrid controllers for stabilization of trajectories of nonholonomic control systems are also developed. A numerical example is reported
  • Keywords
    discrete time systems; stability; discrete-time instants; hybrid feedback controllers; kinematic power form; linear base space dynamics; nonholonomic Chaplygin systems; stabilization; Actuators; Adaptive control; Aerodynamics; Control systems; Ear; Integral equations; Kinematics; Marine vehicles; Nonlinear control systems; State feedback;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
  • Conference_Location
    New Orleans, LA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-2685-7
  • Type

    conf

  • DOI
    10.1109/CDC.1995.478562
  • Filename
    478562
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=294315