Discontinuous Exponential Stabilization of Dynamic Chained Form Systems
نویسنده
چکیده
In this paper, the exponential stabilization of chained form system with inertia is addressed. A discontinuous static time invariant control law is proposed that achieves exponential stability in the Lyapunov’s sense. Such a result was previously obtained only by means of time varying feedback or hybrid feedback endowed of memory capabilities. The total number of switching is less or equal to three with a subdivision of the state space into four subsets. Copyright c ©2005 IFAC
منابع مشابه
Discontinuous exponential stabilization of chained form systems
The stabilization of nonholonomic systems have focused a lot of attention this last years [see e.g. survey papers 1, 2], in particular because it fails to exist linearizing feedback transformation or static continuous stabilizing state feedback [3] despite they are open-loop controllable [4]. The two main strategies adopted to stabilize these systems are time-varying feedbacks [see e.g. 5, 6, 7...
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