Control of high order nonholonomic systems by backstepping

被引：0
|
作者：
Nam, TK [1 ]
Jongusuk, J [1 ]
Mita, T [1 ]
机构：
[1] Tokyo Inst Technol, Dept Control & Syst Engn, Meguro Ku, Tokyo 152, Japan
来源：
PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 2001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：
In this paper, we propose feedback controller for stabilization of nonholonomic systems in high order chained form by integrator backstepping method. The proposed controller yields asymptotic convergence of the states to the origin. The control strategy is applied to posture control of ail underactuated manipulator in order to verify effectiveness of the control algorithm.
引用
收藏
页码：1775 / 1780
页数：6
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