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Control of underactuated driftless systems using higher-order averaging theory

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
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2003.1239809DOIArticle
http://ieeexplore.ieee.org/document/1239809/PublisherArticle
Additional Information:© 2003 IEEE. This work was supported in part by the NSF Engineering Research Center grant NSF9402726.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
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: Kristin Buxton
Deposited On:18 May 2017 21:12
Last Modified:03 Oct 2019 17:59

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