Exponentially convergent control laws for nonholonomic systems in power form |
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Authors: | Jihao Luo Panagiotis Tsiotras |
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Affiliation: | Department of Mechanical, Aerospace and Nuclear Engineering, University of Virginia, Charlottesville, VA 22903-2442, USA |
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Abstract: | This paper introduces a method for constructing exponentially convergent control laws for n-dimensional nonholonomic systems in power form. The methodology is based on the construction of a series of nested invariant manifolds for the closed-loop system under a linear control law. A recursive algorithm is presented which uses these manifolds to construct a three-dimensional system in power form. It is shown that the feedback controller for the original system is the one for this three-dimensional system with a proper choice of the gains. |
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Keywords: | Nonholonomic systems Power form Invariant manifolds Exponential convergence |
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