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Ge, S.S., Sun, Zhendong, Lee, T.H. and Spong, Mark W. (2001) Feedback linearization and stabilization of second-order nonholonomic chained systems. International Journal of Control, 74 (14). pp. 1383-1392. ISSN 1366-5820
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Abstract
This paper presents a theoretical framework for nonregular feedback linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization,
it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. The design mechanism is generalised to higher-order nonholonomic chained systems. Simulation studies are carried out to show the effectiveness of the approach.
| Item Type: | Article |
|---|---|
| Keywords: | Control engineering; Dynamical systems; Systems & Controls; Non-holonomic systems; Siscontinuous control law; Linear system theory; Control scheme; Hamilton Institute. |
| Academic Unit: | Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute |
| Item ID: | 1891 |
| Identification Number: | 10.1080/00207170110067062 |
| Depositing User: | Hamilton Editor |
| Date Deposited: | 22 Mar 2010 15:53 |
| Journal or Publication Title: | International Journal of Control |
| Publisher: | Taylor & Francis Ltd. |
| Refereed: | Yes |
| Related URLs: | |
| URI: | https://mu.eprints-hosting.org/id/eprint/1891 |
| Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
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