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�������պ����ѧѧ�� 2011, Vol. 37 Issue (4) :452-457    DOI:
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Global K-exponential stabilization of nonholonomic chained systems by continuous feedback
Li Mingjun, Ma Baoli*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Two global continuous feedback control laws were proposed to stabilize nonholonomic chained systems, namely, the continuous time-varying feedback control law and the dynamic time-invariant feedback control law. The first control law achieved continuity and asymptoticality by using an exponential decay term related to the initial state values, while the second achieved controllability, continuity and asymptoticality by setting the initial value of the introduced assistant state variable. The two control laws could guarantee that all the states converged to zero continuously and asymptotically at exponential rates, which overcame the short-comings that the previous control laws could not achieve continuity, asymptoticality and exponential rates at the same time. The proposed control laws are applied to the mobile robot and a four-dimension chained system. The simulation results show that the smoothness and convergence rates of the state/control trajectories are better than the previous works.
Keywords�� nonholonomic chained systems   global K-exponential stabilization   continuous time-varying control   dynamic feedback control   mobile robots     
Received 2010-05-11;


About author: ������(1981-),��,����������,��ʿ��,limingjun_8888@163.com.
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Li Mingjun, Ma Baoli.Global K-exponential stabilization of nonholonomic chained systems by continuous feedback[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(4): 452-457
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