Feedback linearization and stabilization of second-order non-holonomic chained systems
The authors consider second-order non-holonomic chained systems of the form \[ \begin{cases} \ddot y_1=u_1\\ \ddot y_2=u_2\\ \ddot y_3=y_2u_1. \end{cases} \] First, they prove that the system can be linearized by state and input transformations which are smooth and invertible, but whose inverses are discontinuous. Using this result, a feedback control is designed which drives to the origin all the initial states in an unbounded open set. In order to achieve global stabilizability, the control strategy is completed by a logic-based switching controller. The procedure can be extended to higher-order chained systems. The paper contains also simulation studies for the dynamic equation of a robot.
- Stabilization of second-order nonholonomic systems in canonical chained form
- Stabilization of nonholonomic chained systems via nonregular feedback linearization
- Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot
- Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form
- State and output feedback stabilization of multiple chained systems with discontinuous control
- 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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