NONHOLONOMIC CONTROL-SYSTEMS - FROM STEERING TO STABILIZATION WITH SINUSOIDS

被引：86

作者：

TEEL, AR

MURRAY, RM

WALSH, GC

机构：

[1] CALTECH,DIV ENGN & APPL SCI,PASADENA,CA 91125

[2] UNIV CALIF BERKELEY,DEPT ELECT ENGN & COMP SCI,BERKELEY,CA 94720

来源：

INTERNATIONAL JOURNAL OF CONTROL | 1995年 / 62卷 / 04期

基金：

美国国家航空航天局; 美国国家科学基金会;

关键词：

D O I：

10.1080/00207179508921572

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law converts into closed loop feedback earlier strategies for open loop steering of non-holonomic systems using sinusoids at integrally related frequencies. The global result is obtained by introducing saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.

引用

页码：849 / 870

页数：22

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