• DocumentCode
    337883
  • Title

    Nonholonomic stabilization and isospectral flows

  • Author

    Bloch, Anthony ; Drakunov, Sergey ; Kinyon, Michael

  • Author_Institution
    Dept. of Math., Michigan Univ., Ann Arbor, MI, USA
  • Volume
    4
  • fYear
    1998
  • fDate
    16-18 Dec 1998
  • Firstpage
    3581
  • Abstract
    In this paper we derive a discontinuous class of controllers for a Lie algebraic generalization of a class of kinematic nonholonomic systems discussed by Brockett (1988). We use a mix of isospectral and double bracket matrix flows
  • Keywords
    Lie algebras; feedback; nonlinear systems; robust control; Lie algebra; feedback; isospectral flows; kinematic nonholonomic systems; matrix flows; robust control; stabilization; Algebra; Algorithm design and analysis; Computer science; Control systems; Convergence; Feedback; Kinematics; Mathematics; Robustness; Stochastic processes;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
  • Conference_Location
    Tampa, FL
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-4394-8
  • Type

    conf

  • DOI
    10.1109/CDC.1998.761735
  • Filename
    761735
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=337883