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Stabilization of nonholonomic chained systems via nonregular feedback linearization. (English) Zbl 0986.93016

Summary: This paper addresses the problem of feedback stabilization of nonholonomic chained systems within the framework of nonregular feedback linearization. Firstly, the nonsmooth version of nonregular feedback linearization is formulated, and a criterion for nonregular feedback linearization is provided. Then, it is proved that the chained form is linearizable via nonregular feedback control, thus enabling feedback control laws to be designed using standard techniques for linear systems. The obtained discontinuous control laws guarantee convergence of the closed-loop system with exponential rates. Finally, simulation results are presented to show the effectiveness of the approach.

MSC:

93B18 Linearizations
70F25 Nonholonomic systems related to the dynamics of a system of particles
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