Exponential stabilization for nonlinear systems with applications to nonholonomic systems

DOI10.1016/S0005-1098(03)00058-XzbMath1032.93067OpenAlexW1975948342MaRDI QIDQ1810575

Ti-Chung Lee

Publication date: 9 June 2003

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(03)00058-x

zbMATH Keywords

nonlinear transformationsexponential stabilizationdilationnonholonomic systemscascaded nonlinear systemsmobile robotdiscontinuous feedbackmobile robotsstate augmentation\(\sigma\)-processing

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (5)

Orientation-error observer-based tracking control of nonholonomic mobile robots ⋮ The exponential stabilization of uncertain chained form systems of mobile robots based on visual servoing ⋮ Finite-time switched second-order sliding-mode control of nonholonomic wheeled mobile robot systems ⋮ Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances ⋮ Adaptive Control for Simultaneous Stabilization and Tracking of Unicycle Mobile Robots

Cites Work

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• Discontinuous control of nonholonomic systems
• Exponentially convergent control laws for nonholonomic systems in power form
• Exponential stabilization of an underactuated autonomous surface vessel
• Discontinuous control of high-order generalized chained systems
• Control design for chained-form systems with bounded inputs
• Exponential stabilization of driftless nonlinear control systems using homogeneous feedback

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