Design of smooth dynamic feedback for stabilization of nonholonomic systems
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 965-970 vol.2
- https://doi.org/10.1109/cdc.1993.325329
Abstract
In this paper, a new technique for stabilization of nonlinear (nonholonomic) systems by smooth dynamic feedback is proposed. This technique is based on the authors' design of the smooth (time-invariant) feedback for asymptotic stabilization of a nonholonomic system on the equilibrium manifold. The authors use this feedback, in conjunction with the averaging solution to the nonholonomic motion planning problem, in order to design an explicitly time-dependent dynamic feedback that ensures convergence of the state vector to the state space origin. The authors discuss the advantages of the proposed technique with respect to other comparable approaches. Furthermore, the authors consider a class of chained canonical systems, and demonstrate an interesting and surprising result: a chained system controlled by the time-invariant dynamic feedback formulated in this paper converges to an arbitrary small ball centered at the origin under certain circumstances. Examples and simulations are provided for illustration.Keywords
This publication has 9 references indexed in Scilit:
- Feedback stabilization of a nonholonomic wheeled mobile robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Limits of highly oscillatory controls and the approximation of general paths by admissible trajectoriesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Dynamic control and motion planning technique for a class of nonlinear systems with driftSystems & Control Letters, 1993
- Control and stabilization of nonholonomic dynamic systemsIEEE Transactions on Automatic Control, 1992
- Global asymptotic stabilization for controllable systems without driftMathematics of Control, Signals, and Systems, 1992
- Explicit design of time-varying stabilizing control laws for a class of controllable systems without driftSystems & Control Letters, 1992
- Feedback Stabilization of Nonlinear SystemsPublished by Springer Nature ,1990
- Geometrical Methods of Nonlinear AnalysisPublished by Springer Nature ,1984
- Nonlinear Controllability via Lie TheorySIAM Journal on Control, 1970