Please use this identifier to cite or link to this item: http://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
Source: 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
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