A Hybrid Controller for a Nonholonomic System
نویسندگان
چکیده
This note describes a logic-based hybrid controller for the well-studied nonholonomic integrator. Our controller provides Lyapunov stability and is designed so that the control signals remain uniformly bounded and have at most a nite number of discontinuities in any nite interval. In particular, no \chattering" occurs. Two alternative controllers, which use only partial state information, are also presented.
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