Title :
Nonholonomic stabilization and isospectral flows
Author :
Bloch, Anthony ; Drakunov, Sergey ; Kinyon, Michael
Author_Institution :
Dept. of Math., Michigan Univ., Ann Arbor, MI, USA
Abstract :
In this paper we derive a discontinuous class of controllers for a Lie algebraic generalization of a class of kinematic nonholonomic systems discussed by Brockett (1988). We use a mix of isospectral and double bracket matrix flows
Keywords :
Lie algebras; feedback; nonlinear systems; robust control; Lie algebra; feedback; isospectral flows; kinematic nonholonomic systems; matrix flows; robust control; stabilization; Algebra; Algorithm design and analysis; Computer science; Control systems; Convergence; Feedback; Kinematics; Mathematics; Robustness; Stochastic processes;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.761735
