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Discontinuous control of nonholonomic systems

Author(s):

A. Astolfi
Conference/Journal:

vol. AUT95-09
Abstract:

The problem of asymptotic convergence for a class of nonholonomic control systems via discontinuous control is addressed and solved from a new point of view. It is shown that control laws, which ensures asymptotic (exponential) convergence of the closed loop system, can be easily designed if the system is described in proper coordinates. In such coordinates, the system is discontinuous. Hence, the problem of local asymptotic stabilization for a class of discontinuous nonholonomic control systems is dealt with and a general procedure to transform a continuous system into a discontinuous one is presented. Moreover, a general strategy to design discontinuous control laws, yielding asymptotic convergence, for a class of nonholonomic control systems is proposed. The enclosed simulation results show the effectiveness of the method.

Year:

1995
Type of Publication:

(04)Technical Report
Supervisor:



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% Autogenerated BibTeX entry
@TechReport { Xxx:1995:IFA_1753,
    author={A. Astolfi},
    title={{Discontinuous control of nonholonomic systems}},
    institution={},
    year={1995},
    number={},
    address={},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1753}
}
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