Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator |
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| Authors: | W L Xu W Huo |
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| Affiliation: | a College of Sciences, Institute of Technology and Engineering, Massey University, Private bag 11222, Palmerston North, New Zealand;b The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083, People's Republic of China |
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| Abstract: | In this paper, a new variable structure control strategy for exponentially stabilizing chained systems is presented based on the extended nonholonomic integrator model, the discontinuous coordinate transformation and the “reaching law method” in variable structure control design. The proposed approach converts the stabilization problem of an n-dimensional chained system into the pole-assignment problem of an (n−3)-dimensional linear time-invariant system and consequently simplifies the stabilization controller design of nonholonomic chained systems. |
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| Keywords: | Nonholonomic control systems Chained systems Variable structure control Stabilization |
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