Please use this identifier to cite or link to this item: https://doi.org/10.1080/00207170110072318
Title: Exponential stabilization of non-holonomic systems: An ENI approach
Authors: Huo, W.
Ge, S.S. 
Issue Date: 15-Oct-2001
Source: Huo, W., Ge, S.S. (2001-10-15). Exponential stabilization of non-holonomic systems: An ENI approach. International Journal of Control 74 (15) : 1492-1500. ScholarBank@NUS Repository. https://doi.org/10.1080/00207170110072318
Abstract: In this paper, a new canonical form, called extended non-holonomic integrators (ENI), is firstly introduced for non-holonomic systems. Next, a recursive design technique is presented to exponentially stabilize ENI systems. The relationships between the convergence rates of the states and the controller parameters are explicitly given, in particular, the convergence rate of individual state can be specified explicitly. Then, it is shown that non-holonomic systems in ENI form, chained and power forms are equivalent, thus can be dealt with in a unified framework. Finally, a car-like mobile robot is used to demonstrate the effectiveness of the proposed control.
Source Title: International Journal of Control
URI: http://scholarbank.nus.edu.sg/handle/10635/55968
ISSN: 00207179
DOI: 10.1080/00207170110072318
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

25
checked on Dec 18, 2017

WEB OF SCIENCETM
Citations

13
checked on Nov 22, 2017

Page view(s)

21
checked on Dec 17, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.