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Volume 25 Issue 5
May  1999
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Journal of Beijing University of Aeronautics and Astronautics  > 1999  >  25(5): 601-604.
Shi Yanshan, Li Daoben, Fan Yuezuet al. Optimization of Extended Kalman Filter for Cellular Mobile Location[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(4): 308-311. (in Chinese)
Citation: Wang Chaoli, Huo Wei, Dong Wenjieet al. Variable Structure Exponential Stabilization of Uncertain Nonholonomic Dynamic Systems[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(5): 601-604. (in Chinese)
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Variable Structure Exponential Stabilization of Uncertain Nonholonomic Dynamic Systems

  • Beijing University of Aeronautics and Astronautics,School of Science

  • Received Date: 05 Jun 1998
  • Publish Date: 31 May 1999
    Abstract
  • The chained form control system is a kind of canonical form of nonholonomic kinematic systems. Many nonholonomic kinematic systems can be transformed into this kind of form by coordinate and input transformations.Using variable structure control, a globally stabilizing controller is given directly based on nonholonomic dynamic systems with uncertainties when the nonholonomic constraints can be converted into chained form control systems. The proposed controller satisfies that there exists a finite time,after that time, the states of the closed loop system exponentially converge to zero with an arbitrarily given rate.The proposed result is used to stabilize a mobile robot.Simulation result shows that the approach is effective.

     

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    • References(1)
  • 1. Brockett W. Asymptotic stability and feedback stabilization.In:Brockett W, Millman R,Sussmann H,eds. Differential Geometric Control Theory. Boston:Birkhauser, 1983.181~208 2. Kolmanovsky L V, McClamroch N H. Development in nonholonomic control problems. IEEE Control Systems, 1995,15(6):20~36 3. Kolmanovsky L V,McClamroch N H. Application of integrator backsteping to nonholonomic control problems.In:IFAC Nonlinear Control Systems Design.1995.673~678 4. Pomet J P. Explicit design of time varying stabilizing control laws for a class of controllable systems without drift. Systems and Control Letters, 1992,18:147~158 5. Robert T M,Murry R M. Exponential stabilization of nonlinear driftless control systems via time-varying homogeneous feedback. IEEE Trans AC, 1997, 42(5):614~628 6. Wash G C,Bushnell L G. Stabilization of multiple input chained form control systems. Syst and Contr Lett, 1995, 25:227~234 7. Campion G. Controllability and state feedback stabilizability of nonholonomic mechanical systems.In:Canudas C W,ed. Advanced Robot Control. New York:Springer-Verlag,1991.106~124 8. Bloch A, Drakunov S. Stabilization of a nonholonomic system via sliding modes.In:Proc 33rd CDC.New York:IEEE, 1994.2961~2963
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