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Control design for chained-form systems with bounded inputs

✍ Scribed by Jihao Luo; Panagiotis Tsiotras

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
274 KB
Volume
39
Category
Article
ISSN
0167-6911

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✦ Synopsis

Discontinuous, time-invariant controllers have been recently proposed in the literature as an alternative method to stabilize nonholonomic systems. These control laws are not continuous at the origin and although they provide exponential rates of convergence, they may use signiΓΏcant amount of control e ort, especially if the initial conditions are close to an equilibrium manifold. We seek to remedy this situation by constructing bounded controllers (with exponential convergence rates) for nonholonomic systems in chained form.

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