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) |
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Pages (from-to) | 255-262 |
Number of pages | 8 |
Journal | Systems and Control Letters |
Volume | 28 |
Issue number | 5 |
DOIs | |
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