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Control Lyapunov function design for nonholonomic systems on noncontractible manifold via revived transformation | IEEE Conference Publication | IEEE Xplore

Control Lyapunov function design for nonholonomic systems on noncontractible manifold via revived transformation


Abstract:

The control Lyapunov function (CLF) plays an important role in feedback control design. Nakamura et al. proposed the minimum method for designing CLFs on noncontractible ...Show More

Abstract:

The control Lyapunov function (CLF) plays an important role in feedback control design. Nakamura et al. proposed the minimum method for designing CLFs on noncontractible manifolds. However, as yet, there are no methods of designing CLFs for nonholonomic systems on noncontractible manifolds. In this paper, we design such a CLF by combining a revived transformation and the minimum projection method. The effectiveness of this method is confirmed by computer simulation.
Date of Conference: 27-30 August 2017
Date Added to IEEE Xplore: 09 October 2017
ISBN Information:
Conference Location: Maui, HI, USA

References

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