Volume 25 Issue 5
May  1999
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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)
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)

Variable Structure Exponential Stabilization of Uncertain Nonholonomic Dynamic Systems

  • Received Date: 05 Jun 1998
  • Publish Date: 31 May 1999
  • 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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