DocumentCode :
2096047
Title :
New results on regulation of nonlinear systems in power chained form
Author :
Lin, Wei ; Pongvuthithum, Radom ; Qian, Chunjiang
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Volume :
4
fYear :
2002
fDate :
2002
Firstpage :
2800
Abstract :
We address the problem of global asymptotic regulation (GAR) for a class of high-order nonholonomic systems in power chained form, which are a natural extension of the nonholonomic systems in chained form that has received considerable attention. The system under consideration is not necessarily affine in the control variables and therefore cannot be handled by most of the existing methods. In this paper, restrictive growth conditions imposed in our previous work are removed and a switching state feedback control law is explicitly constructed, using the addition of a power integrator technique proposed previously.
Keywords :
asymptotic stability; controllers; nonlinear systems; stability; state feedback; control variables; global asymptotic regulation; high-order nonholonomic systems; nonlinear systems; power chained form; power integrator technique; switching state feedback control law; Adaptive control; Asymptotic stability; Control system synthesis; Control systems; Linear feedback control systems; Linear systems; Mechanical systems; Nonlinear control systems; Nonlinear systems; State feedback;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
ISSN :
0743-1619
Print_ISBN :
0-7803-7298-0
Type :
conf
DOI :
10.1109/ACC.2002.1025213
Filename :
1025213
Link To Document :
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