Title :
Extended Lyapunov control of first order systems and its applications
Author :
Urakubo, T. ; Tsuchiya, K. ; Tada, Y.
Author_Institution :
Kobe Univ., Japan
Abstract :
This paper deals with the control problem for a class of nonholonomic systems - first order systems. A time-invariant discontinuous state feedback law for the systems which makes the desired point the only stable equilibrium point is designed by extending the Lyapunov control. The designed controller is applied to some examples of the systems such as a spacecraft.
Keywords :
Lyapunov methods; aerospace control; aerospace robotics; control system synthesis; nonlinear systems; space vehicles; state feedback; Lyapunov control; discontinuous state feedback; first order systems; nonholonomic system; planar space robot; spacecraft; time-invariant systems; Application specific integrated circuits; Control systems; Controllability; Input variables; Lyapunov method; Motion control; Space vehicles; State feedback; Symmetric matrices; Transmission line matrix methods;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195742
