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Discontinuous control of high-order generalized chained systems

โœ Scribed by Maria-Christina Laiou; Alessandro Astolfi


Book ID
104301293
Publisher
Elsevier Science
Year
1999
Tongue
English
Weight
287 KB
Volume
37
Category
Article
ISSN
0167-6911

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โœฆ Synopsis


The stabilization problem for nonlinear systems in a generalized high-order chained form is solved by means of discontinuous state feedback control laws. The proposed controllers yield exponential convergence of the states to the origin. Moreover, the design does not require the precise knowledge of the system parameters. The method is applied to an underactuated surface vessel and a mobile robot moving on an uneven surface and its e ectiveness is demonstrated through simulations.


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