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

M. Reyhanoglu, Mahmut Reyhanoglu

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    22 Citations (Scopus)
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    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 languageUndefined
    Title of host publicationProceedings IEEE 34th Conference on Decision and Control
    Place of PublicationNew Orleans, U.S.A.
    PublisherIEEE
    Pages2125-2126
    Number of pages2
    ISBN (Print)9780780326859
    DOIs
    Publication statusPublished - 13 Dec 1995
    Event34th IEEE Conference on Decision and Control, CDC 1995 - New Orleans, United States
    Duration: 13 Dec 199515 Dec 1995
    Conference number: 34

    Publication series

    Name
    PublisherIEEE
    Volume3

    Other

    Other34th IEEE Conference on Decision and Control, CDC 1995
    Abbreviated titleCDC
    CountryUnited States
    CityNew Orleans
    Period13/12/9515/12/95

    Keywords

    • IR-30821
    • METIS-141462

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