Small-time stabilization of homogeneous cascaded systems with application to the unicycle and the slider examples
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Publication:5136121
DOI10.1137/19M1285081zbMATH Open1453.93187arXiv1905.11132OpenAlexW3097838390MaRDI QIDQ5136121FDOQ5136121
Authors: Jean-Michel Coron, B. d'Andréa-Novel, Wilfrid Perruquetti 
Publication date: 25 November 2020
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/1905.11132
Recommendations
homogeneitytime-varying feedbackunderactuated mechanical systemssmall-time stabilizationnonholonomic kinematic
Nonholonomic systems related to the dynamics of a system of particles (70F25) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)
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