Title :
Stabilization of nonholonomic systems in chained form based on sampled data control
Author :
Yamada, Manabu ; Ohta, Shinichi ; Morinaka, Toshiaki ; Funahashi, Yasuyuki
Author_Institution :
Res. Center for Micro-Struct. Devices, Nagoya Inst. of Technol., Japan
Abstract :
Proposes a feedback control system based on sampled data control for a class of nonholonomic systems in chained form. The problem of finding a controller to stabilize the nonholonomic systems is reduced to the well-known pole assignment problem for linear time-invariant discrete-time systems. As a result, a simple and explicit design method for a stabilizing controller is obtained.
Keywords :
asymptotic stability; control system synthesis; discrete time systems; feedback; linear systems; sampled data systems; chained form systems; linear time-invariant discrete-time systems; nonholonomic systems; pole assignment problem; sampled data control; stabilization; stabilizing controller; Adaptive control; Control systems; Design methodology; Equations; Feedback control; Mechanical engineering; Optimal control; Sampling methods; State feedback; Tellurium;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184517
