STABILIZATION AND TRACKING FOR NONHOLONOMIC CONTROL SYSTEMS USING TIME-VARYING STATE FEEDBACK
作者： R.M. Murray , G. Walsh , S.S. Sastry
DOI: 10.1016/S1474-6670(17)52266-1
关键词: Tracking (particle physics) 、 Trajectory 、 Open-loop controller 、 Nonlinear system 、 Control theory 、 Control engineering 、 Nonholonomic system 、 Point (geometry) 、 Mobile robot 、 Computer science
摘要: Abstract In this paper, we consider the problems of stabilization and tracking for drift-free controllable nonlinear systems. We extend our previous work on use sinusoids to generate open loop trajectories a special class nonholonomic systems show how similar techniques may be used locally asymptotic almost exponential stabilizers such addition, problem trajectory compare performance controllers point as applied simple model mobile robot.
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