Title

Cascaded Feedback Linearization And Its Application To Stabilization Of Nonholonomic Systems

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 tackled by using the standard feedback linearization techniques. As an illustrative application, the proposed cascade feedback linearization concept is employed to solve the feedback stabilization problem of nonholonomic systems within the framework of smooth feedback control. Simulation results have verified the proposed method. © 2006 IEEE.

Publication Date

12-1-2006

Publication Title

Proceedings of the American Control Conference

Volume

2006

Number of Pages

805-810

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

Socpus ID

34047215051 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/34047215051

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