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https://scholarbank.nus.edu.sg/handle/10635/70327
| Title: | Feedback linearization and discontinuous control of second-order nonholonomic chained systems | Authors: | Ge, S.S. Sun, Z. Lee, T.H. Spong, M.W. |
Issue Date: | 2001 | Citation: | Ge, S.S.,Sun, Z.,Lee, T.H.,Spong, M.W. (2001). Feedback linearization and discontinuous control of second-order nonholonomic chained systems. IEEE Conference on Control Applications - Proceedings : 990-995. ScholarBank@NUS Repository. | Abstract: | This paper presents a theoretical framework for linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. Simulation studies are carried out to show the effectiveness of the approach. | Source Title: | IEEE Conference on Control Applications - Proceedings | URI: | http://scholarbank.nus.edu.sg/handle/10635/70327 |
| Appears in Collections: | Staff Publications |
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