Stabilization of Nonholonomic Systems Using Isospectral Flows

DOI10.1137/S0363012998335607MaRDI QIDQ4943748zbMATH OpenFDO

Authors Anthony M. Bloch, Sergey V. Drakunov, Michael K. Kinyon

Publication date 19 March 2000

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/S0363012998335607

zbMATH Keywords

isospectral flowsLie theorynonholonomic systemsnonlinear control

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Dynamical systems in control (37N35) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Stabilization of systems by feedback (93D15)

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Cited in

(11)

• Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form
• Hybrid potential field based control of differential drive mobile robots
• On the geometric construction of a stabilizing time-invariant state feedback controller for the nonholonomic integrator
• Necessary conditions for feedback stabilization and safety
• On the global polynomial stabilization and observation with optimal decay rate
• Semiglobal practical stabilization of nonholonomic wheeled mobile robots with saturated inputs
• Stabilization and tracking control for an extended Heisenberg system with a drift
• Speed-gradient control of the Brockett integrator
• 3D navigation and collision avoidance for nonholonomic aircraft-like vehicles
• Nonlinear Feedback, Double-bracket Dissipation and Port Control of Lie–Poisson Systems
• Brockett's second example: a FAS approach treatment

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