On the control of nonholonomic systems in power form
On the control of nonholonomic systems in power form
- Author(s): S. Ibrir and S. Brahim-Belhaouari
- DOI: 10.1049/cp:19980441
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- Author(s): S. Ibrir and S. Brahim-Belhaouari Source: UKACC International Conference on Control (CONTROL '98), 1998 p. 1438 – 1443
- Conference: UKACC International Conference on Control (CONTROL '98)
- DOI: 10.1049/cp:19980441
- ISBN: 0 85296 708 X
- Location: Swansea, UK
- Conference date: 1-4 Sept. 1998
- Format: PDF
We develop discontinuous controllers for stabilizing n-dimensional nonholonomic mechanical systems given in power form. We show that the stabilization of the whole system turns out to be a simultaneous stabilization of (n-3) driftless subsystems. The control strategy is based on the technique of invariant manifolds. Moreover, it is shown that we could improve the rate of convergence of the state vector by the use of dynamic controllers. A numerical procedure is proposed to filter the noisy measurement without affecting the dynamic of the controller.
Inspec keywords: feedback; control system synthesis; stability; convergence; filtering theory; sampled data systems; multidimensional systems
Subjects: Control system analysis and synthesis methods; Signal processing theory; Distributed parameter control systems; Discrete control systems; Stability in control theory
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