NONHOLONOMIC CONTROL-SYSTEMS - FROM STEERING TO STABILIZATION WITH SINUSOIDS

Authors
TEEL AR MURRAY RM WALSH GC
Citation
Ar. Teel et al., NONHOLONOMIC CONTROL-SYSTEMS - FROM STEERING TO STABILIZATION WITH SINUSOIDS, International Journal of Control, 62(4), 1995, pp. 849-870
Citations number
25
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
International Journal of Control → ACNP
ISSN journal
00207179
Volume
62
Issue
4
Year of publication
1995
Pages
849 - 870
Database
ISI
SICI code
0020-7179(1995)62:4<849:NC-FST>2.0.ZU;2-L
Abstract
We present a control law for globally asymptotically stabilizing a cla ss of controllable nonlinear systems without drift. The control law co nverts into closed loop feedback earlier strategies for open loop stee ring of non-holonomic systems using sinusoids at integrally related fr equencies. The global result is obtained by introducing saturation fun ctions. Simulation results for stabilizing a simple kinematic model of an automobile are included.