Control Design for Systems in Chained Form
with Bounded Inputs
Discontinuous, time-invariant controllers have been recently proposed in the literature
as an alternative method
to stabilize nonholonomic systems.
These control laws are not Lipschitz continuous at the origin and
hence they may use significant amount of control effort,
especially if the
initial conditions are close to an equilibrium manifold.
We seek to remedy this situation by constructing
bounded convergent controllers (with exponential convergence rates)
for nonholonomic systems in chained form.
Full paper postscript version (360K).
Click here
return to main homepage.