Vela, Patricio A. and Burdick, Joel W. (2003) Control of underactuated driftless systems using higher-order averaging theory. In: Proceedings of the 2003 American Control Conference, 2003. Vol.2. IEEE , Piscataway, NJ, pp. 1536-1541. ISBN 0-7803-7896-2. https://resolver.caltech.edu/CaltechAUTHORS:20170518-134910291
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Abstract
This paper applies a recently developed "generalized averaging theory" to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average; the actual system may orbit around the average. Conditions for which the orbit collapses to the averaged trajectory are given. An example validates the theory, demonstrating its utility.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 2003 IEEE. This work was supported in part by the NSF Engineering Research Center grant NSF9402726. | |||||||||
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| DOI: | 10.1109/ACC.2003.1239809 | |||||||||
| Record Number: | CaltechAUTHORS:20170518-134910291 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20170518-134910291 | |||||||||
| Official Citation: | P. A. Vela and J. W. Burdick, "Control of underactuated driftless systems using higher-order averaging theory," Proceedings of the 2003 American Control Conference, 2003., 2003, pp. 1536-1541. doi: 10.1109/ACC.2003.1239809 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 77588 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | INVALID USER | |||||||||
| Deposited On: | 18 May 2017 21:12 | |||||||||
| Last Modified: | 15 Nov 2021 17:32 |
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