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Feedback linearization and stabilization of second-order nonholonomic chained systems

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Ge, S.S., Sun, Zhendong, Lee, T.H. and Spong, Mark W. (2001) Feedback linearization and stabilization of second-order nonholonomic chained systems. International Journal of Control, 74 (14). pp. 1383-1392. ISSN 1366-5820

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Abstract

This paper presents a theoretical framework for nonregular feedback linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. The design mechanism is generalised to higher-order nonholonomic chained systems. Simulation studies are carried out to show the effectiveness of the approach.

Item Type:	Article
Keywords:	Control engineering; Dynamical systems; Systems & Controls; Non-holonomic systems; Siscontinuous control law; Linear system theory; Control scheme; Hamilton Institute.
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	1891
Identification Number:	10.1080/00207170110067062
Depositing User:	Hamilton Editor
Date Deposited:	22 Mar 2010 15:53
Journal or Publication Title:	International Journal of Control
Publisher:	Taylor & Francis Ltd.
Refereed:	Yes
Related URLs:	Publisher
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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