Discontinuous control of high-order generalized chained systems

✍ 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
• DOI: 10.1016/s0167-6911(99)00037-7

✦ 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.