Control of underactuated driftless systems using higher-order averaging theory

This papers applies a recently developed "generalized averaging theory" to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average; the actual system may orbit around the average. Conditions for which the orbit c...

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Bibliographic Details
Published in2003 American Control Conference; Denver, CO; USA; 4-6 June 2003 Vol. 2; pp. 1536 - 1541
Main Authors Vela, P.A., Burdick, J.W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Control design
Control systems
Controllability
Feedback control
Lyapunov method
Mechanical engineering
Nonlinear dynamical systems
Open loop systems
Postal services
System testing
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Summary:This papers applies a recently developed "generalized averaging theory" to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average; the actual system may orbit around the average. Conditions for which the orbit collapses to the averaged trajectory are given. An example validates the theory, demonstrating its utility.
Bibliography:SourceType-Conference Papers & Proceedings-1
ObjectType-Conference Paper-1
content type line 25
ISBN:9780780378964
0780378962
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2003.1239809