Steering Control for a Rigid Body with two Torque Actuators using Adaptive Back Stepping

DOI10.5890/JAND.2017.09.005zbMath1377.70045MaRDI QIDQ4602219

Abdul Baseer Satti

Publication date: 9 January 2018

Published in: Journal of Applied Nonlinear Dynamics (Search for Journal in Brave)

zbMATH Keywords

Lyapunov functionfeedback stabilizationnonholonomic systemsadaptive backsteppingsystems with drift

Mathematics Subject Classification ID

Feedback control (93B52) Lyapunov and storage functions (93D30) Adaptive control/observation systems (93C40) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Cites Work

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• Adaptive backstepping control of uncertain systems. Nonsmooth nonlinearities, interactions or time-variations
• Discontinuous control of the Brockett integrator
• Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
• Robust stabilization via iterative state steering with an application to chained-form systems
• Discontinuous steering control for nonholonomic systems with drift
• Multiple Lyapunov functions and other analysis tools for switched and hybrid systems
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots

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