Title

Cascaded Feedback Linearization And Its Application To Stabilization Of Nonholonomic Systems

Keywords

Cascaded feedback linearization; Lyapunov direct method; Nonlinear systems; Stabilization

Abstract

In this paper, a new cascaded feedback linearization problem is formulated and a set of conditions on the cascaded feedback linearizability are established for a class of two-input affine nonlinear systems. The proposed cascaded feedback linearization method enlarges the classes of nonlinear systems which can be dealt with using the feedback linearization technique. In particular, the proposed design can be applied to address the feedback stabilization problem for a few classes of nonlinear systems which have uncontrollable linearization and do not satisfy the standard feedback linearization conditions. As an illustrative application, the proposed cascade feedback linearization concept is used to solve the feedback stabilization problem of nonholonomic systems within the framework of continuously differentiable state feedback control. Simulation results are provided to illustrate the proposed method. © 2006 Elsevier B.V. All rights reserved.

Publication Date

4-1-2007

Publication Title

Systems and Control Letters

Volume

56

Issue

4

Number of Pages

285-295

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/j.sysconle.2006.10.009

Socpus ID

33847014131 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/33847014131

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