Nonholonomic systems stabilization and tracking control using discontinuous control

被引：4

作者：

Figueiredo, LC ^{[1
]}

Jota, FG ^{[1
]}

机构：

[1] Unileste MG, Dept Engn, Ind Proc Control Lab, BR-35170000 Coronel Fabriciano, MG, Brazil

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) | 2005年

关键词：

D O I：

10.1109/COASE.2005.1506759

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new approach to design a controller for nonholonomic systems to follow a pre-specified trajectory and / or stabilize in a fixed point is proposed. Using the nonholonomic chained form and reference model, a nonautonomous system can be obtained and, then, it can be brought to the autonomous form with adequate input signal or feedback controls. Using the RouthHurwitz criterion or proper choice of the eigenvalues (of the closed-loop system) it is possible to find conditions that globally stabilize the system. These results are significant to associate linear and geometric control tools with a class of nonlinear systems. It is shown that it is expandable to a n-dimensional two input chained form nonholonomic systems. The simulation of an unicycle control is presented as an application example. Future research include generalization of the method to other forms of nonholonomic systems in R-n with some uncertainties.

引用

页码：142 / 147

页数：6

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