On the Stabilization of a Class of Nonholonomic Systems Using Invariant Manifold Technique - Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
نویسنده
چکیده
This paper presents an asymptotically stabilizing discontinuous feedback controller for a class of nonholonoinic systems. The controller consists of two parts: the first part yields an invariant manifold on which all trajectories of the closed-loop system tend to the origin, and the latter part renders the invariant manifold attractive, while avoiding a discontinuity surface. The controller yields exponential stability so that the convergence can be chosen arbitrarily fast.
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