Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form

Author

Alamir, Mazen ; Marchand, Nicolas

Author_Institution

Lab. d´´Automatique de Grenoble, Domaine Univ., Saint Martin d´´Heres, France

Volume

1

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

356

Abstract

A discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering one. Sub-optimal formulations are explicitly used to meet real-time implementability requirements. Stability is established in a sampled-data context and illustrative simulations are given to show the effectiveness and the real-time implementability of the proposed scheme.

Keywords

controllability; optimisation; sampled data systems; stability; state feedback; suboptimal control; chained form nonholonomic systems; constrained minimum-time-oriented feedback control; discontinuous state-feedback law; minimum-time steering; open-loop optimization problem; receding-horizon strategy; sampled-data systems; stabilization; sub-optimal formulations; Context modeling; Control systems; Controllability; Feedback control; Real time systems; Stability; State feedback; State-space methods; Tin; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184519

Filename

1184519