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 › peer-review

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
General Computer Science
Mechanical Engineering
Electrical and Electronic Engineering

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10.1016/0167-6911(96)00029-1

Cite this

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title = "Iterative design of time-varying stabilizers for multi-input systems in chained form",

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.",

keywords = "Chained nonholonomic systems, Global stabilization, Integrator backstepping, Time-varying controller",

author = "Jiang, {Zhong Ping}",

note = "Funding Information: * E-mail: [email protected]. l The author wishes to acknowledge the funding of the activities of the Cooperative Research Centre for Robust and Adaptive Systems by the Australian Government under the Cooperative Research Centres program. 2 Present address: Department of Electrical Engineering, Uni-versi W of Sydney, NSW 2006, Australia. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.",

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N2 - 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.

AB - 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.

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KW - Global stabilization

KW - Integrator backstepping

KW - Time-varying controller

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

Abstract

Keywords

ASJC Scopus subject areas

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