NONHOLONOMIC CONTROL-SYSTEMS - FROM STEERING TO STABILIZATION WITH SINUSOIDS

被引：83
|
作者：
TEEL, AR
MURRAY, RM
WALSH, GC
机构：
[1] CALTECH,DIV ENGN & APPL SCI,PASADENA,CA 91125
[2] UNIV CALIF BERKELEY,DEPT ELECT ENGN & COMP SCI,BERKELEY,CA 94720
来源：
INTERNATIONAL JOURNAL OF CONTROL | 1995年 / 62卷 / 04期
基金：
美国国家科学基金会; 美国国家航空航天局;
关键词：
D O I：
10.1080/00207179508921572
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law converts into closed loop feedback earlier strategies for open loop steering of non-holonomic systems using sinusoids at integrally related frequencies. The global result is obtained by introducing saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.
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页码：849 / 870
页数：22
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