SMALL-TIME STABILIZATION OF HOMOGENEOUS CASCADED SYSTEMS WITH APPLICATION TO THE UNICYCLE AND THE SLIDER EXAMPLES

被引：5

作者：

D'Andrea-Novel, Brigitte ^{[1
]}

Coron, Jean-Michel ^{[2
]}

Perruquetti, Wilfrid ^{[3
]}

机构：

[1] PSL Res Univ, MINES ParisTech CAOR, 60 Bvd St Michel, F-75006 Paris, France

[2] Univ Paris Diderot SPC, Sorbonne Univ, CNRS, INRIA,Lab Jacques Louis Lions,LJLL, Equipe CAGE, F-75005 Paris, France

[3] Ecole Cent Lille, UMR CNRS 9189, CRIStAL, Citee Sci, F-59651 Villeneuve Dascq, France

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2020年 / 58卷 / 05期

关键词：

nonholonomic kinematic; underactuated mechanical systems; small-time stabilization; homogeneity; time-varying feedback; FINITE-TIME; CONTROLLABLE SYSTEMS; RIGID SPACECRAFT; CHAINED SYSTEMS; ASYMPTOTIC CONTROLLABILITY; EXPONENTIAL STABILIZATION; FEEDBACK STABILIZATION; LYAPUNOV FUNCTION; STABILITY; DESIGN;

D O I：

10.1137/19M1285081

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 concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of time-invariant continuous state feedback laws. This is the case of nonholonomic systems, an example being the "unicycle-like" mobile robot, or for underactuated mechanical systems, an example being the slider. Explicit time-varying feedback laws leading to small-time stabilization are constructed for these two control systems. The main tools are homogeneity, backstepping, and desingularization techniques.

引用

页码：2997 / 3018

页数：22

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