A systematic design tool for asymptotic stabilization ofdriftless
نویسنده
چکیده
We present a constructive stabilization algorithm for a particular class of driftless control aane systems. The algorithm makes systematic use of homogeneity, Lie brackets of vectorrelds and Lie algebraic properties , and the resulting feedback laws are periodically time-varying.
منابع مشابه
Design of Observer-based H∞ Controller for Robust Stabilization of Networked Systems Using Switched Lyapunov Functions
In this paper, H∞ controller is synthesized for networked systems subject to random transmission delays with known upper bound and different occurrence probabilities in the both of feedback (sensor to controller) and forward (controller to actuator) channels. A remote observer is employed to improve the performance of the system by computing non-delayed estimates of the sates. The closed-loop s...
متن کاملNonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots
Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
متن کاملDesign and Simulation of Adaptive Neuro Fuzzy Inference Based Controller for Chaotic Lorenz System
Chaos is a nonlinear behavior that shows chaotic and irregular responses to internal and external stimuli in dynamic systems. This behavior usually appears in systems that are highly sensitive to initial condition. In these systems, stabilization is a highly considerable tool for eliminating aberrant behaviors. In this paper, the problem of stabilization and tracking the chaos are investigated....
متن کاملar X iv : 0 90 3 . 02 98 v 1 [ m at h . O C ] 2 M ar 2 00 9 HOMOGENEOUS APPROXIMATION RECURSIVE OBSERVER DESIGN AND OUTPUT FEEDBACK
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The ...
متن کاملHomogeneous Approximation, Recursive Observer Design, and Output Feedback
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The ...
متن کامل