Recursive design of exponential stabilization laws for nonholonomic systems
type: Item
instance of: scholarly article
zbMATH Open document ID: 0995.93061
author: Wei Huo
publication date: 2002-10-17T00:00:00Z
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 70F25
zbMATH DE Number: 1584561
zbMATH Keywords: stabilization
zbMATH Keywords: recursive algorithm
zbMATH Keywords: systems in power form
zbMATH Keywords: chained form
zbMATH Keywords: canonical form
zbMATH Keywords: transformation
zbMATH Keywords: nonholonomic systems
MaRDI profile type: MaRDI publication profile
title: Recursive design of exponential stabilization laws for nonholonomic systems
published in: Control Theory \& Applications
review text: The author reduces the systems in power form and chained form to a new canonical form by transformation of the state variable, and then presents a recursive design method for exponentially stabilizing nonholonomic systems based on the new canonical form. Compared with the existing recursive design method using the invariant manifold approach [see \textit{J. Luo} and \textit{P. Tsiotras}, Syst. Control Lett. 35, 87-95 (1998; Zbl 0909.93029)], the proposed method considerably simplifies the stability proof of closed-loop systems and the choice of controller parameters.
reviewed by: He Chungyou
description: scientific article; zbMATH DE number 1584561