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

M. Reyhanoglu

doi:10.1109/CDC.1995.480515

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

M. Reyhanoglu

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

22 Citations (Scopus)

159 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	English
Title of host publication	Proceedings IEEE 34th Conference on Decision and Control 1995
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	2125-2126
Number of pages	2
Volume	3
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	Proceedings IEEE Conference on Decision and Control (CDC)
Publisher	IEEE
Number	34
Volume	1995
ISSN (Print)	0191-2216

Other

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

Keywords

n/a OA procedure

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10.1109/CDC.1995.480515

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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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Reyhanoglu, M 1995, On the stabilization of a class of nonholonomic systems using invariant manifold technique. in Proceedings IEEE 34th Conference on Decision and Control 1995. vol. 3, Proceedings IEEE Conference on Decision and Control (CDC), no. 34, vol. 1995, IEEE, Piscataway, NJ, pp. 2125-2126, 34th IEEE Conference on Decision and Control, CDC 1995, New Orleans, Louisiana, United States, 13/12/95. https://doi.org/10.1109/CDC.1995.480515

On the stabilization of a class of nonholonomic systems using invariant manifold technique. / Reyhanoglu, M.
Proceedings IEEE 34th Conference on Decision and Control 1995. Vol. 3 Piscataway, NJ: IEEE, 1995. p. 2125-2126 (Proceedings IEEE Conference on Decision and Control (CDC); Vol. 1995, No. 34).

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

TY - GEN

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N1 - Conference code: 34

PY - 1995/12/13

Y1 - 1995/12/13

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 - n/a OA procedure

U2 - 10.1109/CDC.1995.480515

DO - 10.1109/CDC.1995.480515

M3 - Conference contribution

SN - 9780780326859

VL - 3

T3 - Proceedings IEEE Conference on Decision and Control (CDC)

SP - 2125

EP - 2126

BT - Proceedings IEEE 34th Conference on Decision and Control 1995

PB - IEEE

CY - Piscataway, NJ

T2 - 34th IEEE Conference on Decision and Control, CDC 1995

Y2 - 13 December 1995 through 15 December 1995

ER -

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

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