Stabilization of multiple input chained form control systems. (English) Zbl 0877.93100

Summary: This paper presents a control law for stabilizing multiple input chained form control systems. This extends an earlier result of Teel et al. (1994) on stabilizing the above class of systems which have two inputs. In addition, we generalize this law to dynamical control systems and construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizes the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.


93D15 Stabilization of systems by feedback
93C35 Multivariable systems, multidimensional control systems
Full Text: DOI


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