Teel, Andrew R. and Murray, Richard M. and Walsh, Greg (1992) Nonholonomic control systems: from steering to stabilization with sinusoids. In: Proceedings of the 31st IEEE Conference on Decision and Control. Vol.2. IEEE , Piscataway, NJ, pp. 1603-1609. ISBN 0-7803-0872-7. https://resolver.caltech.edu/CaltechAUTHORS:20190320-134725249
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Abstract
The authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.
| Item Type: | Book Section | ||||||
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| Additional Information: | © 1992 IEEE. Research supported in part by the Army under grant ARO DAAL-91-G-0191, and NASA under grant NAG2-243. | ||||||
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| DOI: | 10.1109/CDC.1992.371456 | ||||||
| Record Number: | CaltechAUTHORS:20190320-134725249 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190320-134725249 | ||||||
| Official Citation: | A. R. Teel, R. M. Murray and G. Walsh, "Nonholonomic control systems: from steering to stabilization with sinusoids," [1992] Proceedings of the 31st IEEE Conference on Decision and Control, Tucson, AZ, USA, 1992, pp. 1603-1609 vol.2. doi: 10.1109/CDC.1992.371456 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 93999 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | Tony Diaz | ||||||
| Deposited On: | 20 Mar 2019 21:43 | ||||||
| Last Modified: | 16 Nov 2021 17:02 |
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