Přejít na obsah

Detail publikace

Citace

Prautsch, P. and Mita, T. : Control of driftless nonholonomic systems using time-state control form . Proceedings of International Carpathian Control Conference (ICCC'2003) , p. 566-569, Technical University , Košice, 2003.

Abstrakt

We give a stabilization method based on a special control form that is more general than the usually used chained form. Its one-dimensional subsystem acts as a controlled time variable, while the linear approximation of the remaining (state variable) part can be stabilized by means of a linear state feedback. Switching the directon of development of the time variable, linear controllers are chosen to drive the state variable part to its equilibrium. Computation algorithm for a switching period is given.

Detail publikace

Název: Control of driftless nonholonomic systems using time-state control form
Autor: Prautsch, P. ; Mita, T.
Jazyk publikace: anglicky
Datum vydání: 26.5.2003
Rok vydání: 2003
Typ publikace: Stať ve sborníku
Název časopisu / knihy: Proceedings of International Carpathian Control Conference (ICCC'2003)
Strana: 566 - 569
ISBN: 80-7099-509-2
Nakladatel: Technical University
Místo vydání: Košice
Datum: 26.5.2003 - 29.5.2003
/ /

Klíčová slova

nonholonomic system, stabilization, Lyapunov function, switched system

BibTeX

@INPROCEEDINGS{PrautschP_2003_Controlofdriftless,
 author = {Prautsch, P. and Mita, T.},
 title = {Control of driftless nonholonomic systems using time-state control form },
 year = {2003},
 publisher = {Technical University },
 journal = {Proceedings of International Carpathian Control Conference (ICCC'2003) },
 address = {Ko\v{s}ice},
 pages = {566-569},
 ISBN = {80-7099-509-2},
 url = {http://www.kky.zcu.cz/en/publications/PrautschP_2003_Controlofdriftless},
}