Recursive design of exponential stabilization laws for nonholonomic systems (Q2708026)
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scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Recursive design of exponential stabilization laws for nonholonomic systems |
scientific article |
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17 October 2002
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stabilization
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recursive algorithm
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systems in power form
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chained form
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canonical form
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transformation
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nonholonomic systems
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Recursive design of exponential stabilization laws for nonholonomic systems (English)
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The author reduces the systems in power form and chained form to a new canonical form by transformation of the state variable, and then presents a recursive design method for exponentially stabilizing nonholonomic systems based on the new canonical form. Compared with the existing recursive design method using the invariant manifold approach [see \textit{J. Luo} and \textit{P. Tsiotras}, Syst. Control Lett. 35, 87-95 (1998; Zbl 0909.93029)], the proposed method considerably simplifies the stability proof of closed-loop systems and the choice of controller parameters.
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