Title :
Nonholonomic control systems: from steering to stabilization with sinusoids
Author :
Tee, Andrew R. ; Murray, Richard M. ; Walsh, Greg
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
The authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included
Keywords :
control system analysis; controllability; feedback; kinematics; nonlinear control systems; stability; automobile; chained form systems; control law; controllable nonlinear systems; feedback transformation; globally asymptotically stabilizing; kinematic model; nonholonomic control systems; saturation functions; sinusoids; steering; Automobiles; Control systems; Equations; Feedback; Frequency; Kinematics; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Open loop systems;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371456
