Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator

✍ Scribed by W.L. Xu; W. Huo

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 129 KB
• Volume: 41
• Category: Article
• ISSN: 0167-6911
• DOI: 10.1016/s0167-6911(00)00057-8

✦ Synopsis

In this paper, a new variable structure control strategy for exponentially stabilizing chained systems is presented based on the extended nonholonomic integrator model, the discontinuous coordinate transformation and the "reaching law method" in variable structure control design. The proposed approach converts the stabilization problem of an n-dimensional chained system into the pole-assignment problem of an (n-3)-dimensional linear time-invariant system and consequently simpliÿes the stabilization controller design of nonholonomic chained systems.