Exponential stabilization for nonlinear systems with applications to nonholonomic systems

被引：17
|
作者：
Lee, TC [1 ]
机构：
[1] Ming Hsin Univ Sci & Technol, Dept Elect Engn, Hsinchu 304, Taiwan
来源：
AUTOMATICA | 2003年 / 39卷 / 06期
关键词：
exponential stabilization; nonholonomic systems; cascaded nonlinear systems; non-linear transformations; mobile robots; dilation operation; discontinuous feedback; sigma-processing;
D O I：
10.1016/S0005-1098(03)00058-X
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper proposes a general framework to study the exponential stabilization problem for a wide class of nonlinear systems. By combining the concept of dilation with the method of sigma-processing, a simple stability criterion is given in terms of the stability property of an augmented system. Moreover, the global rho-exponential stability of the closed-loop system can be achieved by employing continuous controllers. A well-known nonholonomic system is given to illustrate the effectiveness of the proposed results. (C) 2003 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：1045 / 1051
页数：7
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