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|Title:||Feedback linearization and discontinuous control of second-order nonholonomic chained systems|
|Authors:||Ge, S.S. |
|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|
|Appears in Collections:||Staff Publications|
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