Iterative design of time-varying stabilizers for multi-input systems in chained form. (English) Zbl 0866.93084

Summary: This paper proposes an alternative solution to the global stabilization of nonholonomic multi-input chained form systems investigated in recent contributions. A systematic design, which is reminiscent of integrator backstepping methods, is presented to generate a new class of smooth time-varying dynamic stabilizers. The proof of stability is straightforward and the algorithm finds its application in adaptive control of nonholonomic systems and tracking control of a mobile robot.


93D15 Stabilization of systems by feedback
70F25 Nonholonomic systems related to the dynamics of a system of particles
93C85 Automated systems (robots, etc.) in control theory
93C99 Model systems in control theory
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