Stabilization of nonholonomic systems using isospectral flows

被引：24

作者：

Bloch, AM ^{[1
]}

Drakunov, SV

Kinyon, MK

机构：

[1] Univ Michigan, Dept Math, Ann Arbor, MI 48109 USA

[2] Tulane Univ, Dept Elect Engn & Comp Sci, New Orleans, LA 70118 USA

[3] Indiana Univ, Dept Math & Comp Sci, South Bend, IN 46634 USA

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2000年 / 38卷 / 03期

关键词：

nonlinear control; nonholonomic systems; isospectral flows; Lie theory;

D O I：

10.1137/S0363012998335607

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 we derive and analyze a discontinuous stabilizing feedback for a Lie algebraic generalization of a class of kinematic nonholonomic systems introduced by Brockett [New Directions in Applied Mathematics, P. Hilton and G. Young, eds., Springer-Verlag, New York, 1982, pp. 11-27]. The algorithm involves discrete switching between isospectral and norm-decreasing flows. We include a rigorous analysis of the convergence.

引用

页码：855 / 874

页数：20

共 30 条

[1] Stabilization and tracking in the nonholonomic integrator via sliding modes [J].