EXPONENTIALLY CONVERGENT CONTROL LAWS FOR NONHOLONOMIC SYSTEMS IN POWER FORM

Authors
LUO JH TSIOTRAS P
Citation
Jh. Luo et P. Tsiotras, EXPONENTIALLY CONVERGENT CONTROL LAWS FOR NONHOLONOMIC SYSTEMS IN POWER FORM, Systems & control letters, 35(2), 1998, pp. 87-95
Citations number
20
Categorie Soggetti
Robotics & Automatic Control","Operatione Research & Management Science","Robotics & Automatic Control","Operatione Research & Management Science
Journal title
Systems & control letters → ACNP
ISSN journal
01676911
Volume
35
Issue
2
Year of publication
1998
Pages
87 - 95
Database
ISI
SICI code
0167-6911(1998)35:2<87:ECCLFN>2.0.ZU;2-M
Abstract
This paper introduces a method for constructing exponentially converge nt control laws for n-dimensional nonholonomic systems in power form. The methodology is based on the construction of a series of nested inv ariant manifolds for the closed-loop system under a linear control law . A recursive algorithm is presented which uses these manifolds to con struct a three-dimensional system in power form. It is shown that the feedback controller for the original system is the one for this three- dimensional system with proper choice of the gains. (C) 1998 Elsevier Science B.V. All rights reserved.