Feedback linearization and stabilization of second-order non-holonomic chained systems

被引：25
作者：
Ge, SS [1 ]
Sun, ZD
Lee, TH
Spong, MW
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
[2] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2001年 / 74卷 / 14期
关键词：
D O I：
10.1080/00207170110067062
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a theoretical framework for non-regular feedback linearization and stabilization of second-order non-holonomic chained systems. By giving a new criterion for the problem of non-smooth non-regular feedback linearization, it is proved that second-order chained systems are non-regular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. The design mechanism is generalized to higher-order non-holonomic chained systems. Simulation studies are carried out to show the effectiveness of the approach.
引用
收藏
页码：1383 / 1392
页数：10
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