Linearization and Stabilization of Second-Order Nonholonomic Chained Systems
نویسندگان
چکیده
This paper presents a theoretical framework for linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. The design mechanism is generalized to higher-order nonholonomic chained systems. Simulation studies are carried out to show the effectiveness of the approach.
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Feedback linearization and stabilization of second-order nonholonomic chained systems
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