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

Systems and Control Letters

Volumn 28, Issue 5, 1996, Pages 255-262

  Jiang, Zhong Ping ^a  

^a AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

Author keywords

Chained nonholonomic systems; Global stabilization; Integrator backstepping; Time varying controller

Indexed keywords

EID: 0000069422     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/0167-6911(96)00029-1     Document Type: Article

References (18)

1. R.W. Brockett, Asymptotic stability and feedback stabilization, in: R.W. Brockett, R.S. Millman and H.J. Sussmann, eds., Differential Geometric Control Theory (1983) 181-191.
2. L. Bushnell, D. Tilbury and S. Sastry, Steering three-input chained form nonholonomic systems using sinusoids: The fire truck example, Proc. 2nd European Control Conf. (1993) 1432-1437.
3. C.I. Byrnes and A. Isidori, New results and examples in nonlinear feedback stabilization, Systems Control Lett. 12 (1989) 437-442.
4. J.-M. Coron, Global asymptotic stabilization for controllable systems without drift, Math. Control. Signals Systems 5 (1992) 295-312.
5. Z.P. Jiang and J.-B. Pomet, Combining backstepping and time-varying techniques for a new set of adaptive controllers, Proc. 33rd IEEE Conf. Decision Control, Florida (1994) 2207-2212.
6. Z.P. Jiang and J.-B. Pomet, Backstepping-based adaptive controllers for uncertain nonholonomic systems, Proc. 34th IEEE Conf. Decision Control, New Orleans (1995) 1573-1578.
7. Z.P. Jiang and H. Nijmeijer, Tracking control of mobile robots: a case study in backstepping, Memorandum 1321, Department of Applied Mathematics, University of Twente, April 1996.
8. P. V. Kokotović, The joy of feedback: nonlinear and adaptive, Control Systems Magazine 12 (1992) 7-17.
9. I. Kolmanovsky and N.H. McClamroch, Applications of integrator backstepping to nonholonomic control problems, Prep. IFAC NOLCOS'95, California (1995) 753-758.
10. J.-P. LaSalle, Stability theory for ordinary differential equations, J. Differential Equations 4 (1968) 57-65.
11. R. M'Closkey and R. Murray, Exponential stabilization of driftless nonlinear control systems via time-varying, homogeneous feedback, Proc. 33rd IEEE Conf. Decision Control, Florida (1994) 1317-1322.
12. R.M. Murray and S. Sastry, Nonholonomic motion planning: steering using sinusoids, IEEE Trans. Automat. Control 38 (1993) 700-716.
13. J.-B. Pomet, Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift, Systems Control Lett. 18 (1992) 147-158.
14. C. Samson, Control of chained systems. Application to path following and time-varying point-stabilization of mobile robots, IEEE Trans. Automat. Control 40 (1995) 64-77.
15. O.J. Sørdalen and O. Egeland, Exponential stabilization of nonholonomic chained systems, IEEE Trans. Automat. Control 40 (1995) 35-49.
16. A. Teel, R. Murray and G. Walsh, Nonholonomic control systems: from steering to stabilization with sinusoids, Internat. J. Control 62 (1995) 849-870.
17. J. Tsinias, Sufficient Lyapunov-like conditions for stabilization, Math. Control Signals Systems 2 (1989) 343-357.
18. G.C. Walsh and L.G. Bushnell, Stabilization of multi input chained form control systems, Systems Control Lett. 25 (1995) 227-234.