DocumentCode
2202070
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
Volume
2
fYear
2001
fDate
2001
Firstpage
1775
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.981161
Filename
981161
Link To Document