Titre :

Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples

Auteur(s) :

d'Andréa-Novel, Brigitte [Auteur]
Centre de Robotique [CAOR]
Coron, Jean-Michel [Auteur]
Laboratoire Jacques-Louis Lions [LJLL]
Perruquetti, Wilfrid [Auteur]
Non-Asymptotic estimation for online systems [NON-A-POST]

Mot(s)-clé(s) en anglais :

Nonholonomic mechanical systems
underactuated systems
small-time stabilization
homogeneity
time-varying feedback

Discipline(s) HAL :

Mathématiques [math]/Optimisation et contrôle [math.OC]
Sciences de l'ingénieur [physics]/Automatique / Robotique

Résumé en anglais : [en]

This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, ...
Lire la suite >This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the unicycle 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 technics.Lire moins >

Langue :

Anglais

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL