Stabilization of nonholonomic systems using isospectral flows

Authors
Bloch, AM Drakunov, SV Kinyon, MK
Citation
Am. Bloch et al., Stabilization of nonholonomic systems using isospectral flows, SIAM J CON, 38(3), 2000, pp. 855-874
Citations number
30
Categorie Soggetti
Mathematics,"Engineering Mathematics
Journal title
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
ISSN journal
03630129 → ACNP
Volume
38
Issue
3
Year of publication
2000
Pages
855 - 874
Database
ISI
SICI code
0363-0129(20000316)38:3<855:SONSUI>2.0.ZU;2-Q
Abstract
In this paper we derive and analyze a discontinuous stabilizing feedback fo r a Lie algebraic generalization of a class of kinematic nonholonomic syste ms introduced by Brockett [New Directions in Applied Mathematics, P. Hilton and G. Young, eds., Springer-Verlag, New York, 1982, pp. 11-27]. The algor ithm involves discrete switching between isospectral and norm-decreasing fl ows. We include a rigorous analysis of the convergence.