Title :
Control of high order nonholonomic systems by backstepping
Author :
Nam, Taek-Kun ; Jongusuk, Jurachart ; Mita, Tsutomu
Author_Institution :
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
In this paper, we propose feedback controller for stabilization of nonholonomic systems in high order chained form by integrator backstepping method. The proposed controller yields asymptotic convergence of the states to the origin. The control strategy is applied to posture control of an underactuated manipulator in order to verify effectiveness of the control algorithm
Keywords :
convergence; feedback; manipulators; stability; asymptotic convergence; backstepping control; feedback; high-order chained form; high-order nonholonomic system control; integrator backstepping method; posture control; stabilization; underactuated manipulator; Acceleration; Adaptive control; Backstepping; Control systems; Manipulators; Mechanical systems; Motion control; Strain control; Systems engineering and theory; Velocity control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981161
