Title :
Stabilization of Brockett´s generalized canonical driftless system
Author :
Bloch, Anthony ; Drakunov, Sergey ; Kinyon, Michael
Author_Institution :
Dept. of Math., Michigan Univ., Ann Arbor, MI, USA
Abstract :
Brockett (1981) derived a canonical form for a class of controllable systems of the form x˙=B(x)u. He showed later that such systems cannot be stabilized by smooth state feedback. In this paper we analyze a discontinuous stabilizing feedback for a Lie algebraic version of this class of systems
Keywords :
Lie algebras; controllability; feedback; stability; Lie algebra; canonical form; discontinuous stabilizing feedback; generalized canonical driftless system stabilization; smooth state feedback; Algebra; Algorithm design and analysis; Computer science; Control systems; Kinematics; Lagrangian functions; Mathematics; Shafts; State feedback; Stochastic processes;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.649505
