Non-holonomic control systems: from steering to stabilization with sinusoids
作者:
ANDREW R. TEEL,
RICHARD M. MURRAY,
GREGORY C. WALSH,
期刊:
International Journal of Control
(Taylor Available online 1995)
卷期:
Volume 62,
issue 4
页码: 849-870
ISSN:0020-7179
年代: 1995
DOI:10.1080/00207179508921572
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
We present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law converts into closed loop feedback earlier strategies for open loop steering of non-holonomic systems using sinusoids at integrally related frequencies. The global result is obtained by introducing saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.
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