Title :
Nonholonomic systems and exponential convergence: some analysis tools
Author :
Closkey, Robert T M ; Murray, Richard M.
Author_Institution :
Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
Abstract :
In this paper the authors make a contribution to the analysis of nonholonomic systems with exponential rates of convergence. A key idea is the use of control laws which render the closed loop system homogeneous with respect to a dilation. The analysis is applied to nonholonomic systems in power form and consists of two steps. The first step is a reduction to an invariant set and then the application of an averaging result. The averaging theorem is a stability result for C0 homogeneous order zero vector fields
Keywords :
closed loop systems; control system analysis; convergence; feedback; nonlinear control systems; stability; C0 homogeneous order zero vector fields; analysis tools; averaging theorem; closed loop system; dilation; exponential convergence; invariant set; nonholonomic systems; stability; Closed loop systems; Control systems; Convergence; Geometry; Mechanical engineering; Mechanical systems; Nonlinear control systems; Nonlinear systems; Stability analysis; State feedback;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325324
