Constrained Minimum-Time-Oriented Feedback Control for the Stabilization of Nonholonomic Systems in Chained Form |
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Authors: | M Alamir N Marchand |
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Institution: | (1) Laboratoire d'Automatique de Grenoble, UMR CNRS 5528, Saint Martin d'Hères, France;(2) Laboratoire des Signaux et Systèmes (L2S), Maître de Conférence, Gif sur Yvette, France |
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Abstract: | In this paper, a discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Suboptimal formulations are used explicitly to meet the real-time implementability requirements. Stability is established in a sampled-data context and illustrative simulations are given to show the effectiveness and the real-time implementability of the proposed scheme. |
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Keywords: | Nonholonomic systems sampled control saturated control stabilization receding-horizon control |
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