On the stabilization of a class of nonholonomic systems using invariant manifold technique

M. Reyhanoglu; Mahmut Reyhanoglu

doi:10.1109/CDC.1995.480515

On the stabilization of a class of nonholonomic systems using invariant manifold technique

M. Reyhanoglu, Mahmut Reyhanoglu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

22 Citations (Scopus)

94 Downloads (Pure)

Abstract

This paper presents an asymptotically stabilizing discontinuous feedback controller for a class of nonholonomic systems. The controller consists of two parts: the first part yields an invariant manifold on which all trajectories of the closed-loop system tend to the origin, and the latter part renders the invariant manifold attractive, while avoiding a discontinuity surface. The controller yields exponential stability so that the convergence can be chosen arbitrarily fast

Original language	Undefined
Title of host publication	Proceedings IEEE 34th Conference on Decision and Control
Place of Publication	New Orleans, U.S.A.
Publisher	IEEE
Pages	2125-2126
Number of pages	2
ISBN (Print)	9780780326859
DOIs	https://doi.org/10.1109/CDC.1995.480515
Publication status	Published - 13 Dec 1995
Event	34th IEEE Conference on Decision and Control, CDC 1995 - New Orleans, United States Duration: 13 Dec 1995 → 15 Dec 1995 Conference number: 34

Publication series

Name
Publisher	IEEE
Volume	3

Other

Other	34th IEEE Conference on Decision and Control, CDC 1995
Abbreviated title	CDC
Country	United States
City	New Orleans
Period	13/12/95 → 15/12/95

Keywords

IR-30821
METIS-141462

Access to Document

10.1109/CDC.1995.480515

00480515
open

Cite this

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title = "On the stabilization of a class of nonholonomic systems using invariant manifold technique",

abstract = "This paper presents an asymptotically stabilizing discontinuous feedback controller for a class of nonholonomic systems. The controller consists of two parts: the first part yields an invariant manifold on which all trajectories of the closed-loop system tend to the origin, and the latter part renders the invariant manifold attractive, while avoiding a discontinuity surface. The controller yields exponential stability so that the convergence can be chosen arbitrarily fast",

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AU - Reyhanoglu, Mahmut

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N2 - This paper presents an asymptotically stabilizing discontinuous feedback controller for a class of nonholonomic systems. The controller consists of two parts: the first part yields an invariant manifold on which all trajectories of the closed-loop system tend to the origin, and the latter part renders the invariant manifold attractive, while avoiding a discontinuity surface. The controller yields exponential stability so that the convergence can be chosen arbitrarily fast

AB - This paper presents an asymptotically stabilizing discontinuous feedback controller for a class of nonholonomic systems. The controller consists of two parts: the first part yields an invariant manifold on which all trajectories of the closed-loop system tend to the origin, and the latter part renders the invariant manifold attractive, while avoiding a discontinuity surface. The controller yields exponential stability so that the convergence can be chosen arbitrarily fast

KW - IR-30821

KW - METIS-141462

U2 - 10.1109/CDC.1995.480515

DO - 10.1109/CDC.1995.480515

M3 - Conference contribution

SN - 9780780326859

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BT - Proceedings IEEE 34th Conference on Decision and Control

PB - IEEE

CY - New Orleans, U.S.A.

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