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Citation
: 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.
Abstract
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 of publication
| Title: | Control of driftless nonholonomic systems using time-state control form |
|---|---|
| Author: | Prautsch, P. ; Mita, T. |
| Language: | English |
| Date of publication: | 26 May 2003 |
| Year: | 2003 |
| Type of publication: | Papers in proceedings of reviewed conferences |
| Title of journal or book: | Proceedings of International Carpathian Control Conference (ICCC'2003) |
| Page: | 566 - 569 |
| ISBN: | 80-7099-509-2 |
| Publisher: | Technical University |
| Address: | Košice |
| Date: | 26 May 2003 - 29 May 2003 |
Keywords
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},
}