On the stabilization of a class of nonholonomic systems using invariant manifold technique


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Reyhanoglu, Mahmut (1995) On the stabilization of a class of nonholonomic systems using invariant manifold technique. In: 34th IEEE Conference on Decision and Control, December 13-15, 1995, New Orleans, USA.

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Abstract:This paper presents an asymptotically stabilizing discontinuous feedback controller for a class of nonholonomic systems. The controller consists of two parts: the first part yields an invariant manifold on which all trajectories of the closed-loop system tend to the origin, and the latter part renders the invariant manifold attractive, while avoiding a discontinuity surface. The controller yields exponential stability so that the convergence can be chosen arbitrarily fast
Item Type:Conference or Workshop Item
Copyright:©1995 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Link to this item:http://purl.utwente.nl/publications/30821
Official URL:http://dx.doi.org/10.1109/CDC.1995.480515
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Metis ID: 141462