Feedback linearization and stabilization of second-order non-holonomic chained systems

DOI10.1080/00207170110067062MaRDI QIDQ3151471zbMATH OpenOpenAlexWikidataFDO

Authors Zhendong Sun, Shuzhi Sam Ge, Tong Heng Lee, Mark W. Spong

Publication date 16 October 2002

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL http://eprints.maynoothuniversity.ie/1891/1/HamiltonFeedbackLinear.pdf

zbMATH Keywords

global stabilizabilityinput transformationslinearizationnon-holonomic chained systemsstabilizationswitching controller

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cited in

(11)

• Adaptive stabilization of uncertain nonholonomic systems by state and output feedback.
• Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form
• Universal practical tracking control of a planar underactuated vehicle
• Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems
• State equivalence to the second-order nonholonomic chained form
• Stabilization of second-order nonholonomic systems in canonical chained form
• Output-feedback adaptive stabilization control design for non-holonomic systems with strong non-linear drifts
• Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot
• Stabilization of nonholonomic chained systems via nonregular feedback linearization
• Output feedback exponential stabilization of uncertain chained systems
• Cascaded feedback linearization and its application to stabilization of nonholonomic systems

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