Stabilization of Nonholonomic Systems Using Isospectral Flows
نویسندگان
چکیده
In this paper we derive and analyze a discontinuous stabilizing feedback for a Lie algebraic generalization of a class of kinematic nonholonomic systems introduced by Brockett. The algorithm involves discrete switching between isospectral and norm-decreasing ows. We include a rigorous analysis of the convergence. 1. Introduction. In this paper we present a stabilization algorithm for a Lie
منابع مشابه
Geometry and integrability of Euler–Poincaré–Suslov equations
We consider nonholonomic geodesic flows of left-invariant metrics and left-invariant nonintegrable distributions on compact connected Lie groups. The equations of geodesic flows are reduced to the Euler–Poincaré–Suslov equations on the corresponding Lie algebras. The Poisson and symplectic structures give raise to various algebraic constructions of the integrable Hamiltonian systems. On the oth...
متن کاملGlobal output feedback stabilization for a class of uncertain nonholonomic Systems with Partial inputs saturation
This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...
متن کاملGlobal State-Feedback Stabilization for a Class of Uncertain Nonholonomic Systems with Partial Inputs Saturation
This paper investigates the problem of global stabilization by state feedback for a class of uncertain nonholonomic systems in chained form with partial inputs saturation. By using input-state-scaling technique and backstepping recursive approach, a state feedback control strategy is presented. With the help of a switching control strategy, the designed controller renders that the states of clo...
متن کاملPassivity based control of a class ofHamiltonian systemswith
This paper is concerned with state and output feedback stabilization of a class of port-Hamiltonian systems with nonholonomic constraints. First we study canonical forms for port-Hamiltonian systems with nonholonomic constraints. Second, we give a new state feedback stabilization method by using non-smooth Hamiltonian functions via generalized canonical transformations. Third, we propose a dyna...
متن کاملExponential stabilization for nonlinear systems with applications to nonholonomic systems
The paper proposes a general framework to study the exponential stabilization problem for a class of nonlinear systems. By using the σ-processing, the exponential stabilization problem can be solved provided that all solutions of an augmented system are uniformly globally bounded. Based on this result, a simple and general stability criterion is presented. Two well-known nonholonomic systems ar...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- SIAM J. Control and Optimization
دوره 38 شماره
صفحات -
تاریخ انتشار 2000