Stabilization of nonholonomic chained systems via nonregular feedback linearization
نویسندگان
چکیده
منابع مشابه
Stabilization of nonholonomic chained systems via nonregular feedback linearization
This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that a chained form is linearizable via nonregular feedback control, thus enab...
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ژورنال
عنوان ژورنال: Systems & Control Letters
سال: 2001
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(01)00148-7