Small-time stabilization of homogeneous cascaded systems with application to the unicycle and the slider examples
From MaRDI portal
Publication:5136121
Abstract: This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the unicycle robot, or for underactuated mechanical systems, an example being the slider. Explicit time-varying feedback laws leading to small-time stabilization are constructed for these two control systems. The main tools are homogeneity, backstepping, and desingularization technics.
Recommendations
Cites work
- scientific article; zbMATH DE number 440610 (Why is no real title available?)
- scientific article; zbMATH DE number 3839814 (Why is no real title available?)
- scientific article; zbMATH DE number 4170789 (Why is no real title available?)
- scientific article; zbMATH DE number 729189 (Why is no real title available?)
- A General Theorem on Local Controllability
- A necessary condition for feedback stabilization
- Adding an integrator for the stabilization problem
- Asymptotic Controllability and Robust Asymptotic Stabilizability
- Asymptotic controllability implies feedback stabilization
- Clocks and Insensitivity to Small Measurement Errors
- Contributions to stability theory
- Control and nonlinearity.
- Control and stabilization of nonholonomic dynamic systems
- Control of chained systems application to path following and time-varying point-stabilization of mobile robots
- Control of non holonomic or under-actuated mechanical systems: the examples of the unicycle robot and the slider
- Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
- Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
- Explicit feedbacks stabilizing the attitude of a rigid spacecraft with two control torques
- Exponential Stabilization of an Underactuated Surface Vessel
- Feedback Stabilization and Lyapunov Functions
- Finite Time Controllers
- Finite time stability and stabilization of a class of continuous systems
- Finite-Time Stability of Continuous Autonomous Systems
- Finite-time and fixed-time stabilization: implicit Lyapunov function approach
- Finite-time stabilization and stabilizability of a class of controllable systems
- Flow Stability of Patchy Vector Fields and Robust Feedback Stabilization
- Global asymptotic stabilization for controllable systems without drift
- Global uniform asymptotic stabilization of an underactuated surface vessel
- Homogeneous Approximation, Recursive Observer Design, and Output Feedback
- Homogeneous Lyapunov function for homogeneous continuous vector field
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- Nonholonomic motion planning: steering using sinusoids
- Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems
- On conditions of oscillations and multi-homogeneity
- On the Stabilization in Finite Time of Locally Controllable Systems by Means of Continuous Time-Varying Feedback Law
- Quadratic approximation and time-varying feedback laws
- Robust optimal stabilization of the brockett integrator via a hybrid feedback
- Robust stabilization of chained systems via hybrid control
- Stability rates for patchy vector fields
- Time-varying exponential stabilization of a rigid spacecraft with two control torques
- Time-varying feedback stabilization of the attitude of a rigid spacecraft with two controls
Cited in
(5)- Small-time extinction with decay estimate of bilinear systems on Hilbert space
- Global uniform finite-time output feedback stabilization for disturbed nonlinear uncertain systems: backstepping-like observer and nonseparation principle design
- On the logarithmic stability estimates of non-autonomous systems: applications to control systems
- On the global polynomial stabilization and observation with optimal decay rate
- Control of non holonomic or under-actuated mechanical systems: the examples of the unicycle robot and the slider
This page was built for publication: Small-time stabilization of homogeneous cascaded systems with application to the unicycle and the slider examples
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5136121)
