Stabilization of nonholonomic chained systems via nonregular feedback linearization

Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0167-6911(01)00148-7

Title:	Stabilization of nonholonomic chained systems via nonregular feedback linearization
Authors:	Sun, Z. Ge, S.S. Huo, W. Lee, T.H.
Keywords:	Discontinuous control Nonholonomic systems Nonregular feedback linearization Stabilization
Issue Date:	15-Nov-2001
Citation:	Sun, Z., Ge, S.S., Huo, W., Lee, T.H. (2001-11-15). Stabilization of nonholonomic chained systems via nonregular feedback linearization. Systems and Control Letters 44 (4) : 279-289. ScholarBank@NUS Repository. https://doi.org/10.1016/S0167-6911(01)00148-7
Abstract:	This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that the chained form is linearizable via nonregular feedback control, thus enable us to design feedback control laws using standard techniques for linear systems. The obtained discontinuous control laws guarantee convergence of the closed-loop system with exponential rates. Finally, simulation results are presented to show the effectiveness of the approach. © 2001 Elsevier Science B.V. All rights reserved.
Source Title:	Systems and Control Letters
URI:	http://scholarbank.nus.edu.sg/handle/10635/57505
ISSN:	01676911
DOI:	10.1016/S0167-6911(01)00148-7
Appears in Collections:	Staff Publications

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