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Robust stabilization of chained systems via hybrid control

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C. Prieur; A. Astolfi
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Abstract:

A hybrid state feedback control law for nonholonomic chained systems is proposed. It is shown that the control law yields global asymptotic stability and global robustnes...Show More

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Abstract:

A hybrid state feedback control law for nonholonomic chained systems is proposed. It is shown that the control law yields global asymptotic stability and global robustness against a class of small measurement errors, actuator noises and exogenous disturbances.
Published in: Proceedings of the 41st IEEE Conference on Decision and Control, 2002.
Date of Conference: 10-13 December 2002
Date Added to IEEE Xplore: 10 March 2003
Print ISBN:0-7803-7516-5
Print ISSN: 0191-2216
DOI: 10.1109/CDC.2002.1184549
Conference Location: Las Vegas, NV, USA
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