Control of underactuated driftless systems using higher-order averaging theory

被引：0

作者：

Vela, PA ^{[1
]}

Burdick, JW ^{[1
]}

机构：

[1] CALTECH, Control & Dynam Syst, Pasadena, CA 91125 USA

来源：

PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This papers applies a recently developed "generalized averaging theory" to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average; the actual system may orbit around the average. Conditions for which the orbit collapses to the averaged trajectory are given. An example validates the theory, demonstrating its utility.

引用

页码：1536 / 1541

页数：6

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