Title :
Constrained Minimum-time-oriented Stabilization of Extended Chained Form Systems
Author :
Hably, Ahmad ; Marchand, Nicolas ; Alamir, Mazen
Author_Institution :
Laboratoire d’Automatique de Grenoble, CNRS-INPG-UJF, ENSIEG BP 46, 38402 Saint Martin d’Hères Cedex, France, Ahmad. Hably@inpg.fr
Abstract :
In this paper, a minimum-time oriented state feedback control is proposed for the stabilization of second-ordered chained form system with saturation constraints on the control inputs. The feedback law is based on receding horizon strategy that provides global stabilization of the system for any final desired state. Simulations are given to show the effectiveness of the proposed approach.
Keywords :
Aircraft; Control systems; Kinematics; Mechanical systems; Mobile robots; Open loop systems; Satellites; State feedback; Time varying systems; Vehicles;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1583147
