Title :
Order-reduced stabilization design of nonholonomic chained systems based on new canonical forms
Author :
Wang, Sheng Yuan ; Huo, Wei ; Xu, Wei Liang
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
fDate :
6/21/1905 12:00:00 AM
Abstract :
In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design
Keywords :
control system synthesis; multidimensional systems; nonlinear systems; pole assignment; reduced order systems; robust control; canonical forms; linear time-invariant system; multidimensional systems; nonholonomic chained systems; pole-assignment; reduced order systems; stabilization; Automatic control; Cities and towns; Control systems; Design automation; Manufacturing automation; Mechanical systems; Mobile robots; Orbital robotics; Pulp manufacturing; Underwater vehicles;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827859
