Title :
Stabilization of nonholonomic chained systems via nonregular feedback linearization
Author :
Sun, Z. ; Ge, S.S. ; Huo, W. ; Lee, T.H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that a chained form is linearizable via nonregular feedback control, thus enable us to design feedback control laws using standard techniques for linear systems. The obtained discontinuous control laws guarantee convergence of the closed-loop system with exponential rates. Finally, simulation results are presented to show the effectiveness of the approach
Keywords :
closed loop systems; control system synthesis; convergence; feedback; linearisation techniques; stability; closed-loop system; discontinuous control laws; exponential convergence; feedback control law design; feedback stabilization; nonholonomic chained systems; nonregular feedback linearization; nonsmooth version; Aerodynamics; Control system synthesis; Control systems; Feedback control; Kinematics; Linear feedback control systems; Linear systems; Mechanical systems; Mobile robots; State feedback;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912141
