TY - JOUR
T1 - Iterative design of time-varying stabilizers for multi-input systems in chained form
AU - Jiang, Zhong Ping
N1 - Funding Information:
* E-mail: zjiang@syseng.anu.edu.au. 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.
PY - 1996/9/5
Y1 - 1996/9/5
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.
KW - Chained nonholonomic systems
KW - Global stabilization
KW - Integrator backstepping
KW - Time-varying controller
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U2 - 10.1016/0167-6911(96)00029-1
DO - 10.1016/0167-6911(96)00029-1
M3 - Article
AN - SCOPUS:0000069422
SN - 0167-6911
VL - 28
SP - 255
EP - 262
JO - Systems and Control Letters
JF - Systems and Control Letters
IS - 5
ER -