STABILIZATION AND TRACKING IN THE NONHOLONOMIC INTEGRATOR VIA SLIDINGMODES

Authors
BLOCH A DRAKUNOV S
Citation
A. Bloch et S. Drakunov, STABILIZATION AND TRACKING IN THE NONHOLONOMIC INTEGRATOR VIA SLIDINGMODES, Systems & control letters, 29(2), 1996, pp. 91-99
Citations number
24
Categorie Soggetti
Controlo Theory & Cybernetics","System Science","Operatione Research & Management Science
Journal title
Systems & control letters → ACNP
ISSN journal
01676911
Volume
29
Issue
2
Year of publication
1996
Pages
91 - 99
Database
ISI
SICI code
0167-6911(1996)29:2<91:SATITN>2.0.ZU;2-N
Abstract
In this paper we use an approach based on sliding mode control to desi gn a feedback which stabilizes the origin for the so-called nonholonom ic integrator or Heisenberg system, a particular case of a canonical c lass of nonlinear driftless control systems of the form x = B(x)u whic h fail Brockett's necessary condition for the existence of a smooth st abilizing feedback.