Time-varying control of a class of nonholonomic systems

被引：4
|
作者：
Tian, YP [1 ]
Li, SH [1 ]
机构：
[1] Southeast Univ, Dept Automat Control, Nanjing 210096, Peoples R China
来源：
PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01) | 2001年
关键词：
D O I：
10.1109/CCA.2001.973996
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 paper we propose a general dynamic model for describing a class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc. We prove that by introducing an assistant state variable(s), this class of nonholonomic systems can be transformed into linear time-varying control systems, and the asymptotic exponential stability is thus achieved by using a smooth time-varying feedback control law.
引用
收藏
页码：972 / 977
页数：2
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