Practical stabilization of nonlinear systems in chained form

This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.<<ETX>>

[1]  M. Corless,et al.  Control of Uncertain Discrete-Time Systems , 1986, 1986 American Control Conference.

[2]  Anthony M. Bloch,et al.  Control of mechanical systems with classical nonholonomic constraints , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[3]  Claude Samson,et al.  Velocity and torque feedback control of a nonholonomic cart , 1991 .

[4]  Karim Ait-Abderrahim,et al.  Feedback stabilization of a nonholonomic wheeled mobile robot , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[5]  Richard M. Murray,et al.  Steering nonholonomic systems in chained form , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[6]  Jean-Baptiste Pomet.  Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift , 1992 .

[7]  O. J. Sordalen,et al.  Exponential stabilization of mobile robots with nonholonomic constraints , 1992 .

[8]  Jean-Michel Coron,et al.  A Remark on the Design of Time-Varying Stabilizing Feedback Laws for Controllable Systems without Drift , 1992 .

[9]  D. Normand-Cyrot,et al.  An introduction to motion planning under multirate digital control , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[10]  Ole Jakob Sørdalen,et al.  Conversion of the kinematics of a car with n trailers into a chained form , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.