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Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/70327
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dc.titleFeedback linearization and discontinuous control of second-order nonholonomic chained systems
dc.contributor.authorGe, S.S.
dc.contributor.authorSun, Z.
dc.contributor.authorLee, T.H.
dc.contributor.authorSpong, M.W.
dc.date.accessioned2014-06-19T03:10:53Z
dc.date.available2014-06-19T03:10:53Z
dc.date.issued2001
dc.identifier.citationGe, 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.
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/70327
dc.description.abstractThis 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.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.sourcetitleIEEE Conference on Control Applications - Proceedings
dc.description.page990-995
dc.description.codenICOAE
dc.identifier.isiutNOT_IN_WOS
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