Switched mode feedback control laws for nonholonomic systems in extended power form

Ilya Kolmanovsky; Mahmut Reyhanoglu; N. Harris McClamroch

doi:10.1016/0167-6911(95)00036-4

Switched mode feedback control laws for nonholonomic systems in extended power form

Ilya Kolmanovsky^*, Mahmut Reyhanoglu, N. Harris McClamroch

^*Corresponding author for this work

King Fahd University of Petroleum & Minerals

Research output: Contribution to journal › Article › peer-review

60 Scopus citations

Abstract

A class of nonholonomic control systems in extended power form is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed into the extended power form. A switched mode feedback controller is used to obtain global convergence of the states of the extended power form to the origin. This feedback controller can be interpreted as a hybrid system consisting of a high level discrete event supervisor and a family of low level feedback controllers. The closed loop system exhibits finite-time responses.

Original language	English
Pages (from-to)	29-36
Number of pages	8
Journal	Systems and Control Letters
Volume	27
Issue number	1
DOIs	https://doi.org/10.1016/0167-6911(95)00036-4
State	Published - 31 Jan 1996

Bibliographical note

Funding Information:
*Corresponding author. Supported by a Francois-Xavier Bagnoud doctoral fellowship. I Supported by King Fahd University of Petroleum and Minerals. 2 Supported by NSF Grant MSS-9114630.

Keywords

Control of nonholonomic systems
Hybrid systems
Nonsmooth feedback stabilization

ASJC Scopus subject areas

Control and Systems Engineering
General Computer Science
Mechanical Engineering
Electrical and Electronic Engineering

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10.1016/0167-6911(95)00036-4

Cite this

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title = "Switched mode feedback control laws for nonholonomic systems in extended power form",

abstract = "A class of nonholonomic control systems in extended power form is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed into the extended power form. A switched mode feedback controller is used to obtain global convergence of the states of the extended power form to the origin. This feedback controller can be interpreted as a hybrid system consisting of a high level discrete event supervisor and a family of low level feedback controllers. The closed loop system exhibits finite-time responses.",

keywords = "Control of nonholonomic systems, Hybrid systems, Nonsmooth feedback stabilization",

author = "Ilya Kolmanovsky and Mahmut Reyhanoglu and McClamroch, \{N. Harris\}",

note = "Funding Information: *Corresponding author. Supported by a Francois-Xavier Bagnoud doctoral fellowship. I Supported by King Fahd University of Petroleum and Minerals. 2 Supported by NSF Grant MSS-9114630.",

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AU - Reyhanoglu, Mahmut

AU - McClamroch, N. Harris

N1 - Funding Information: *Corresponding author. Supported by a Francois-Xavier Bagnoud doctoral fellowship. I Supported by King Fahd University of Petroleum and Minerals. 2 Supported by NSF Grant MSS-9114630.

PY - 1996/1/31

Y1 - 1996/1/31

N2 - A class of nonholonomic control systems in extended power form is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed into the extended power form. A switched mode feedback controller is used to obtain global convergence of the states of the extended power form to the origin. This feedback controller can be interpreted as a hybrid system consisting of a high level discrete event supervisor and a family of low level feedback controllers. The closed loop system exhibits finite-time responses.

AB - A class of nonholonomic control systems in extended power form is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed into the extended power form. A switched mode feedback controller is used to obtain global convergence of the states of the extended power form to the origin. This feedback controller can be interpreted as a hybrid system consisting of a high level discrete event supervisor and a family of low level feedback controllers. The closed loop system exhibits finite-time responses.

KW - Control of nonholonomic systems

KW - Hybrid systems

KW - Nonsmooth feedback stabilization

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JF - Systems and Control Letters

IS - 1

ER -

Switched mode feedback control laws for nonholonomic systems in extended power form

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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