Abstract
This paper deals with a new class of nonholonomic control systems with strongly nonlinear disturbances and drift terms. The objective is to design a robust nonlinear state feedback law which simultaneously solves the global exponential regulation problem for all plants in the class. A switching control strategy is employed to get around the smooth stabilization burden associated with nonholonomic systems. The systematic strategy involves the introduction of a state-scaling technique and the application of the so-called integrator backstepping procedure. Extension to the output-feedback case follows readily. Our theoretical development is validated via simulations.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3525-3529 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 5 |
| State | Published - 1999 |
| Event | Proceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA Duration: Jun 2 1999 → Jun 4 1999 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering