Please use this identifier to cite or link to this item: https://doi.org/10.1080/00207170110067062
Title: Feedback linearization and stabilization of second-order non-holonomic chained systems
Authors: Ge, S.S. 
Sun, Z. 
Lee, T.H. 
Spong, M.W.
Issue Date: 20-Sep-2001
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
URI: http://scholarbank.nus.edu.sg/handle/10635/56036
ISSN: 00207179
DOI: 10.1080/00207170110067062
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