Detail Feedback Stabilization Of Driftless System By Norm-Bounded Input   Oleh:  Yokomichi, M. Jenis: Article from Article Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1085-1089. Topik: Driftless System; Norm-Bounded Input; Feedback Fulltext: AC021498.PDF (174.69KB) Isi artikel The asymptotic stabilization problem of nonholonomic vehicle which can be expressed by chained form is considered. It is known such systems can be stabilized by discontinuous and/or time-varying feedback. In this paper, an approach that improve the control performance such as, convergence rate and input constraint, of existing control law is proposed. The technique is based on the fact any driftless system is feedback equivalent to itself under any time-scale transformations. The e_ciency of the modi_cation is examined by numerical simulations. Opini Anda Klik untuk menuliskan opini Anda tentang koleksi ini! Kembali

Copyright © 2006, 2007 Unika Atma Jaya, all rights reserved