Robust stabilization of chained systems via hybrid control
نویسندگان
چکیده
The problem of global robust exponential stabilization of nonholonomic chained systems is addressed and solved by means of a hybrid state feedback control law. It is shown that the control law yields global exponential stability and global robustness against a class of small measurement errors, actuator noises and exogenous disturbances.
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ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 48 شماره
صفحات -
تاریخ انتشار 2003