STATE AND OUTPUT-FEEDBACK STABILIZATION OF MULTIPLE CHAINED SYSTEMS WITH DISCONTINUOUS CONTROL

Authors
ASTOLFI A SCHAUFELBERGER W
Citation
A. Astolfi et W. Schaufelberger, STATE AND OUTPUT-FEEDBACK STABILIZATION OF MULTIPLE CHAINED SYSTEMS WITH DISCONTINUOUS CONTROL, Systems & control letters, 32(1), 1997, pp. 49-56
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","System Science","Operatione Research & Management Science
Journal title
Systems & control letters → ACNP
ISSN journal
01676911
Volume
32
Issue
1
Year of publication
1997
Pages
49 - 56
Database
ISI
SICI code
0167-6911(1997)32:1<49:SAOSOM>2.0.ZU;2-Z
Abstract
The problem of state and output feedback stabilization of nonholonomic multiple chained systems is addressed and solved using a particular c lass of discontinuous control laws. The obtained control laws are rela tively simple, compared with others existing in the current literature , and guarantee exponential convergence of the closed-loop system. A s imulation example, showing the main features of the proposed controlle rs, is enclosed. (C) 1997 Elsevier Science B.V.