Control design for chained-form systems with bounded inputs

Systems and Control Letters

Volumn 39, Issue 2, 2000, Pages 123-131

  Luo, Jihao ^a   Tsiotras, Panagiotis ^b  

^a University of Virginia   (United States)

^b Georgia Institute of Technology   (United States)

Author keywords

Bounded control; Chained form; Exponential convergence; Nonholonomic systems

Indexed keywords

EID: 0002609216     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0167-6911(99)00097-3     Document Type: Article

References (23)

1. A. Astolfi, Discontinuous control of nonholonomic systems, Systems Control Lett. 27 (1) (1996) 37-45.
2. A. Bloch, S. Drakunov, Stabilization and tracking in the nonholonomic integrator via sliding modes, Systems Control Lett. 29 (1996) 91-99.
3. R.W. Brockett, Asymptotic stability and feedback stabilization, in: R.W. Brockett, R.S. Millman, H.J. Sussman (Eds.), Differential Geometric Control Theory, Birkhauser, Basel, 1983, pp. 181-208.
4. J.M. Coron, Global asymptotic stabilization for controllable systems without drift, Math. Control Signals Systems 5 (1992) 295-312.
5. J.-M. Coron, On the stabilization in finite time of locally controllable systems by means of continuous time-varying feedback law, SIAM J. Control Optim. 33 (3) (1995) 804-833.
6. J.-M. Godhavn, O. Egeland, A Lyapunov approach to exponential stabilization of nonholonomic systems in power form, IEEE Trans. Automat. Control 42 (7) (1997) 1028-1032.
7. Z.-P. Jiang, Iterative design of time-varying stabilizers for multi-input systems in chained form, Systems Control Lett. 28 (1996) 255-262.
8. H. Khennouf, C. Canudas de Wit, On the construction of stabilizing discontinuous controllers for nonholonomic systems, Proceedings IFAC Nonlinear Control Systems Design Symposium, Tahoe City, CA, 1995, pp. 747-752.
9. I. Kolmanovsky, H. McClamroch, Developments in nonholonomic control problems, IEEE Control Systems Mag. 15 (6) (1995) 20-36.
10. Z. Lin, A. Saberi, Semi-global exponential stabilization of linear systems subject to 'input saturation' via linear feedbacks, Systems Control Lett. 21 (1993) 225-239.
11. J. Luo, P. Tsiotras, Exponentially convergent controllers for n-dimensional nonholonomic systems in power form, Proceedings of the American Control Conference, Albequerque, NM, 1997, pp. 398-402.
12. R.T. M'Closkey, R.M. Murray, Nonholonomic systems and exponential convergence: Some analysis tools, Proceedings, 32nd Conference on Decision and Control, San Antonio, TX, 1993, pp. 943-948.
13. R.T. M'Closkey, R.M. Murray, Exponential stabilization of driftless nonlinear control systems using homogeneous feedback, IEEE Trans. Automat. Control 42 (5) (1997) 614-628.
14. R. Murray, Control of nonholonomic systems using chained form, Fields Inst. Commun. 1 (1993) 219-245.
15. J.P. Pomet, Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift, Systems Control Lett. 18 (1992) 147-158.
16. M. Reyhanoglu, On the stabilization of a class of nonholonomic systems using invariant manifold technique, Proceedings of the 34th IEEE Conference on Decision and Control, New Orleans, LA, 1995, pp. 2125-2126.
17. C. Samson, Velocity and torque feedback control of a nonholonomic cart, International Workshop on Adaptive and Nonlinear Control: Issues in Robotics, Grenoble, France, 1990, pp. 125-151.
18. O.J. Sørdalen, O. Egeland, Exponential stabilization of nonholonomic chained systems, IEEE Trans. Automat. Control 40 (1) (1995) 35-49.
19. A. Teel, Global stabilization and restricted tracking for multiple integrators with bounded controls, Systems Control Lett. 18 (1992) 165-171.
20. P. Tsiotras, Invariant manifold techniques for control of underactuated mechanical systems, in: A. Astolfi, D. Limebeer, A. Tornambe (Eds.), Modelling and Control of Mechanical Systems, Imperial College, London, UK, 1997, pp. 277-292.
21. P. Tsiotras, M. Corless, M. Longuski, A novel approach for the attitude control of an axisymmetric spacecraft subject to two tontrol torques, Automatica 31 (8) (1995) 1099-1112.
22. P. Tsiotras, J. Luo, Reduced-effort control laws for underactuated rigid spacecraft, J. Guidance Control Dyn. 20 (6) (1997) 1089-1095.
23. M. Vidyasagar, Nonlinear Systems Analysis, 2nd ed., Prentice-Hall, Englewood Cliffs, NJ, 1993.