Discontinuous control of high-order generalized chained systems

被引：70

作者：

Laiou, MC ^{[1
]}

Astolfi, A

机构：

[1] Univ London Imperial Coll Sci Technol & Med, Ctr Proc Syst Engn, London SW7 2BY, England

[2] Univ London Imperial Coll Sci Technol & Med, Dept Elect & Elect Engn, London SW7 2BY, England

[3] Politecn Milan, Dipartimento Fus, I-20133 Milan, Italy

来源：

SYSTEMS & CONTROL LETTERS | 1999年 / 37卷 / 05期

关键词：

high-order chained systems; nonholonomic systems; almost exponential stability; Lagrange stability; discontinuous control laws;

D O I：

10.1016/S0167-6911(99)00037-7

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 effectiveness is demonstrated through simulations. (C) 1999 Elsevier Science B.V. All rights reserved.

引用

页码：309 / 322

页数：14

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