Title
Saturated Control of Chained Nonholonomic Systems
Abbreviated Journal Title
Eur. J. Control
Keywords
Nonholonomic systems; chained form; feedback control; saturated control; BOUNDED CONTROLS; EXPONENTIAL STABILIZATION; GLOBAL STABILIZATION; LINEAR-SYSTEMS; MULTIPLE INTEGRATORS; CONTROL DESIGN; FORM SYSTEMS; FEEDBACK; TRACKING; Automation & Control Systems
Abstract
Plenty of approaches to stabilize chained nonholonomic systems have been proposed in the literature. However, the stabilization with constrained inputs is seldom addressed. This problem has practical importance since all physical nonholonomic systems have actuator limitations. In this article, a novel switching control design is proposed. The design strategy is inspired by the structural similarity between chained nonholonomic systems and multiple-integrator systems. The key idea is to make u(1) to be piecewise constant, which renders the rest of the states a chain of constant weighted integrators. Moreovei; since the saturation control to eventually works in a linear region with fixed eigenvalues, a buffer zone for x(1) is introduced to ensure the convergence of the rest of the states. The effectiveness of the proposed design is verified by computer simulations.
Journal Title
European Journal of Control
Volume
17
Issue/Number
2
Publication Date
1-1-2011
Document Type
Article
Language
English
First Page
172
Last Page
179
WOS Identifier
ISSN
0947-3580
Recommended Citation
"Saturated Control of Chained Nonholonomic Systems" (2011). Faculty Bibliography 2010s. 2156.
https://stars.library.ucf.edu/facultybib2010/2156
Comments
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