Robust stabilization of chained systems via hybrid control
Open Access
- 7 October 2003
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 48 (10) , 1768-1772
- https://doi.org/10.1109/tac.2003.817909
Abstract
The problem of global robust exponential stabilization of nonholonomic chained systems is addressed and solved by means of a hybrid state feedback control law. It is shown that the control law yields global exponential stability and global robustness against a class of small measurement errors, actuator noises and exogenous disturbances.Keywords
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