Control Design for Systems in Chained Formwith Bounded Inputs
نویسندگان
چکیده
Discontinuous, time-invariant controllers have been recently proposed in the literature as an alternative method to stabilize nonholonomic systems. These control laws are not Lipschitz continuous at the origin and hence they may use signiicant amount of control eeort, especially if the initial conditions are close to an equilibrium manifold. We seek to remedy this situation by constructing bounded convergent controllers (with exponential convergence rates) for nonholo-nomic systems in chained form.
منابع مشابه
American Control Conference Philadelphia PA June Control Design for Systems in Chained Form with Bounded Inputs
Discontinuous time invariant controllers have been re cently proposed in the literature as an alternative method to stabilize nonholonomic systems These control laws are not Lipschitz continuous at the origin and hence they may use signi cant amount of control e ort especially if the ini tial conditions are close to an equilibrium manifold We seek to remedy this situation by constructing bounde...
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