On the control of nonholonomic systems in power form.

被引：0
|
作者：
Ibrir, S [1 ]
Brahim-Belhaouari, S [1 ]
机构：
[1] Ecole Super Elect, Signaux & Syst Lab, SUPELEC, CNRS, F-91192 Gif Sur Yvette, France
来源：
UKACC INTERNATIONAL CONFERENCE ON CONTROL '98, VOLS I&II | 1998年
关键词：
invariant manifolds; stabilization; numerical methods;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this gaper, we develop discontinuous controllers for stabilizing n-dimensional nonholonomic mechanical systems given in power form. We show that the stabilization of the whole system turns out to be a simultaneous stabilization of (n - 3) driftless subsystems. The central strategy is based on the technique of invariant manifolds. Moreover, it is shown that we could improve the rate of convergence of the state vector by the use of dynamic controllers. A numerical procedure is proposed to filter the noisy measurement without affecting the dynamic of the controller.
引用
收藏
页码：1438 / 1443
页数：6
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