Iterative design of time-varying stabilizers for multi-input systems in chained form

Zhong Ping Jiang

doi:10.1016/0167-6911(96)00029-1

Iterative design of time-varying stabilizers for multi-input systems in chained form

Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Contribution to journal › Article

Abstract

This paper proposes an alternative solution to the global stabilization of nonholonomic multi-input chained form systems investigated in recent contributions [13, 18]. A systematic design, which is reminiscent of integrator backstepping methods, is presented to generate a new class of smooth time-varying dynamic stabilizers. The proof of stability is straightforward and the algorithm finds its application in adaptive control of nonholonomic systems and tracking control of mobile robot.

Original language	English (US)
Pages (from-to)	255-262
Number of pages	8
Journal	Systems and Control Letters
Volume	28
Issue number	5
DOIs	https://doi.org/10.1016/0167-6911(96)00029-1
State	Published - Sep 5 1996

Keywords

Chained nonholonomic systems
Global stabilization
Integrator backstepping
Time-varying controller

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science(all)
Mechanical Engineering
Electrical and Electronic Engineering

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10.1016/0167-6911(96)00029-1

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Jiang, Z. P. (1996). Iterative design of time-varying stabilizers for multi-input systems in chained form. Systems and Control Letters, 28(5), 255-262. https://doi.org/10.1016/0167-6911(96)00029-1

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