Exponential stabilization for nonlinear systems with applications to nonholonomic systems (Q1810575)
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scientific article; zbMATH DE number 1924709
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Exponential stabilization for nonlinear systems with applications to nonholonomic systems |
scientific article; zbMATH DE number 1924709 |
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Exponential stabilization for nonlinear systems with applications to nonholonomic systems (English)
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9 June 2003
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Exponential stabilization is considered for a class of cascaded nonlinear control systems. An augmentation of state is used to transform the original system into an augmented system by combining the concept of dilation with the method of \(\sigma\)-processing. Choosing an appropriate augmentation of state, the global \(\rho\)-exponential stability is achieved by employing continuous controllers. An example (mobile robot moving on an uneven surface) is given.
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exponential stabilization
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nonholonomic systems
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cascaded nonlinear systems
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nonlinear transformations
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mobile robots
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dilation
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discontinuous feedback
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\(\sigma\)-processing
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state augmentation
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mobile robot
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