Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator

In this paper, a new variable structure control strategy for exponentially stabilizing chained systems is presented based on the extended nonholonomic integrator model, the discontinuous coordinate transformation and the "rea ching law method" in variable structure control design. The proposed approa ch converts the stabilization problem of an n-dimensional chained system in to the pole-assignment problem of an (n-3)-dimensional linear time-invarian t system and consequently simplifies the stabilization controller design of nonholonomic chained systems. (C) 2000 Elsevier Science B.V. All rights re served.