Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control |
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Authors: | Yu-Ping TianAuthor Vitae Shihua LiAuthor Vitae |
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Affiliation: | Department of Automatic Control, Southeast University, Nanjing 210096, People's Republic of China |
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Abstract: | A general dynamic model is proposed for describing a large class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc. By introducing an assistant state variable and a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into linear time-varying control systems, and the asymptotic exponential stability is thus achieved by using a smooth time-varying feedback control law. The existence and uniqueness of the minimal dilation degree for the discussed systems are also proved under certain conditions. |
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Keywords: | Nonholonomic system Exponential stabilization Smooth time-varying control Global stabilization |
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