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|Title:||Feedback linearization and stabilization of second-order non-holonomic chained systems|
|Authors:||Ge, S.S. |
|Source:||Ge, S.S., Sun, Z., Lee, T.H., Spong, M.W. (2001-09-20). Feedback linearization and stabilization of second-order non-holonomic chained systems. International Journal of Control 74 (14) : 1383-1392. ScholarBank@NUS Repository. https://doi.org/10.1080/00207170110067062|
|Abstract:||This paper presents a theoretical framework for non-regular feedback linearization and stabilization of second-order non-holonomic chained systems. By giving a new criterion for the problem of non-smooth non-regular feedback linearization, it is proved that second-order chained systems are non-regular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. The design mechanism is generalized to higher-order non-holonomic chained systems. Simulation studies are carried out to show the effectiveness of the approach.|
|Source Title:||International Journal of Control|
|Appears in Collections:||Staff Publications|
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