DocumentCode
313693
Title
Exponentially convergent controllers for n-dimensional nonholonomic systems in power form
Author
Luo, Jihao ; Tsiotras, Panagiotis
Author_Institution
Dept. of Mech. Aerosp. & Nucl. Eng., Virginia Univ., Charlottesville, VA, USA
Volume
1
fYear
1997
fDate
4-6 Jun 1997
Firstpage
398
Abstract
Introduces a method for constructing exponentially convergent control laws for n-dimensional nonholonomic systems in power form. The methodology is based on the construction of a series of invariant manifolds for the closed-loop system under a linear control law. A recursive algorithm is presented to derive a feedback controller which drives the system exponentially to the origin. A numerical example illustrates the proposed theoretical developments
Keywords
closed loop systems; control system synthesis; feedback; multidimensional systems; closed-loop system; exponentially convergent controllers; feedback controller; invariant manifolds; linear control law; n-dimensional nonholonomic systems; power form; recursive algorithm; Aerospace control; Aerospace engineering; Control systems; Convergence; Feedback control; Mobile robots; Power engineering and energy; Space vehicles; State feedback; Time varying systems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.611827
Filename
611827
Link To Document