Title :
Stabilization of nonholonomic Chaplygin systems with linear base space dynamics
Author :
Kolmanovsky, Ilya ; McClamroch, N.H.
Author_Institution :
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
Abstract :
Hybrid feedback controllers are developed for stabilization of nonholonomic Chaplygin systems with linear base space dynamics to an equilibrium. The controllers operate by switching from one periodic input to another at discrete-time instants to achieve stabilization. As an application we consider stabilization of nonholonomic systems in kinematic power form. Hybrid controllers for stabilization of trajectories of nonholonomic control systems are also developed. A numerical example is reported
Keywords :
discrete time systems; stability; discrete-time instants; hybrid feedback controllers; kinematic power form; linear base space dynamics; nonholonomic Chaplygin systems; stabilization; Actuators; Adaptive control; Aerodynamics; Control systems; Ear; Integral equations; Kinematics; Marine vehicles; Nonlinear control systems; State feedback;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478562
