DocumentCode
1696999
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
Volume
4
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
3464
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.827859
Filename
827859
Link To Document