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Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator. (English) Zbl 0980.93067
Summary: A new variable structure control strategy for exponentially stabilizing chained systems is presented based on the extended nonholonomic integrator model, the discontinuous coordinate transformation and the “reaching law method” in variable structure control design. The proposed approach converts the stabilization problem of an n-dimensional chained system into the pole-assignment problem of an (n-3)-dimensional linear time-invariant system and consequently simplifies the stabilization controller design of nonholonomic chained systems.
MSC:
93D15Stabilization of systems by feedback
70F25Nonholonomic systems (particle dynamics)
93B12Variable structure systems
93B17System transformation
93B55Pole and zero placement problems