Design of Stabilizing Feedback Controllers for High-Order Nonholonomic Systems
This letter presents a novel stabilizing control design strategy for driftless control-affine systems with an arbitrary degree of nonholonomy. The proposed approach combines a time-varying control component that generates motion in the direction of prescribed Lie brackets with a state-dependent comp...
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Published in | IEEE control systems letters Vol. 8; pp. 988 - 993 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
IEEE
2024
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Subjects | |
Online Access | Get full text |
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Summary: | This letter presents a novel stabilizing control design strategy for driftless control-affine systems with an arbitrary degree of nonholonomy. The proposed approach combines a time-varying control component that generates motion in the direction of prescribed Lie brackets with a state-dependent component, ensuring the stability of the equilibrium. The coefficients of the state-dependent component are derived in such a way that the trajectories of the resulting closed-loop system approximate the gradient flow of a Lyapunov-like function. In the case of a quadratic Lyapunov function, this guarantees the exponential stability of the equilibrium. The usability of this approach is demonstrated on general two-input systems having the fourth degree of nonholonomy. The proposed stabilization scheme is illustrated with several examples. |
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ISSN: | 2475-1456 2475-1456 |
DOI: | 10.1109/LCSYS.2024.3406931 |