Exponential Stabilization of Second-Order Nonholonomic Chained Systems

被引：0

作者：

Zain, Zainah Md. ^{[1
,2
]}

Watanabe, Keigo ^{[2
]}

Izumi, Kiyotaka ^{[3
]}

Nagai, Isaku ^{[2
]}

机构：

[1] Univ Malaysia Pahang, Fac Elect & Elect Engn, Pekan Branch, Pekan 26600, Pahang, Malaysia

[2] Okayama Univ, Grad Sch Nat Sci & Technol, Div Ind Innovat Sci, Dept Intelligent Mech Syst,Kita Ku, Okayama 7008530, Japan

[3] Saga Univ, Grad Sch Sci & Engn, Dept Mech Engn, Saga 8408502, Japan

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, PT II | 2013年 / 8103卷

关键词：

Nonholonomic system; underactuated control system; second-order chained form; discontinuous control;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an underactuated control method is considered for an X4-AUV with four thrusters and 6-DOFs. A second-order chained form transformation is introduced to the dynamical model by separating a system into three parts of controller model. Then, the Astolfi's discontinuous control method is applied to realize an underactuated control method to stabilize the system. This approach is motivated by the fact that the discontinuous dynamic model without using a chained form transformation assures only a local stability (or controllability) of the dynamic based control system, instead of guaranteeing a global stability of the system. A computer simulation is presented to demonstrate the effectiveness of our approach.

引用

页码：96 / 107

页数：12

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