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

Research output: Contribution to journalArticle

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 languageEnglish (US)
Pages (from-to)255-262
Number of pages8
JournalSystems and Control Letters
Volume28
Issue number5
DOIs
StatePublished - 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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