Title: A Recursive Design Method for the Stabilization Controller of a Kind of Nonholonomic System
Abstract: Taking aim at a kind of nonholonomic system that can be transformed into chained form system,a recursive design method of a stabilization controller was proposed.The stabilization controller of the high dimentional nonholonomic chained system was designed by the method starting from that of the low dimentional nonholonomic chained system.And it was proved that the stabilization controller through the proposed method could guarantee all the states of n-dimensional system exponentially converge from the initial state which satisfies x∈Rn,x1,n(0)≠0 to the origin.The simulated results show that the controller designed by the method is effective on the kind of nonholonomic system.
Publication Year: 2009
Publication Date: 2009-01-01
Language: en
Type: article
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