Unified Lyapunov framework for stabilization and tracking of nonholonomic systems

Research output: Contribution to journalConference articlepeer-review

Abstract

This paper collects recent results published in a series of papers and presents new results on stabilization and tracking for nonholonomic dynamic systems. A unified backstepping design methodology is proposed to tackle both the stabilization and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple, while the obtained controllers yield practically acceptable stability properties under moderate control efforts.

Original languageEnglish (US)
Pages (from-to)2088-2093
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - 1999
EventThe 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA
Duration: Dec 7 1999Dec 10 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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