Exponential ε-tracking and ε-stabilization of second-order nonholonomic SE(2) vehicles using dynamic state feedback

Proceedings of the American Control Conference

Volumn 5, Issue , 2002, Pages 3961-3967

  Olfati Saber, Reza ^a  

^a California Institute of Technology   (United States)

Author keywords

stabilization; tracking; Autonomous vehicles; Dynamic partial feedback linearization; Dynamic state feedback; Nonholonomic systems; Nonlinear control; Underactuated systems

Indexed keywords

CONSTRAINT THEORY; DYNAMICS; FEEDBACK CONTROL; LINEARIZATION; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; STATE FEEDBACK; SYSTEM STABILITY; VEHICLES;

AUTONOMOUS VEHICLES; DYNAMIC PARTIAL FEEDBACK LINEARIZATION; DYNAMIC STATE FEEDBACK; EXPONENTIAL TRACKING; SECOND ORDER NONHOLONOMIC VEHICLES; TRANSLATIONAL DYNAMICS;

CONTROL SYSTEM SYNTHESIS;

EID: 0036056048     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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