DocumentCode
2099255
Title
Stabilization of a class of second-order nonholonomic systems
Author
Ma, B.L. ; Yu, Bin
Author_Institution
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
Volume
6
fYear
2002
fDate
2002
Firstpage
4365
Abstract
Stabilization problem of a class of second-order nonholonomic systems is studied. The system is shown controllable but not stabilizable by any smooth pure state feedback control law. The state and input feedback transformations are constructed explicitly to convert the system to a second-order nonholonomic chained form. A smooth time-varying control law is derived to exponentially stabilize the obtained second-order chained form. The proposed approach is applied to stabilize several underactuated robot systems.
Keywords
asymptotic stability; nonlinear systems; robot dynamics; robust control; state feedback; time-varying systems; chained form; exponential stability; nonholonomic systems; nonlinear system; second-order systems; stabilization; state feedback; time-varying systems; underactuated robot systems; Acceleration; Control systems; Controllability; Feedback control; Manipulator dynamics; Position control; Robots; State feedback; Time varying systems; Vehicle dynamics;
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.2002.1025333
Filename
1025333
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