Small-Time Stabilization of Homogeneous ...
Type de document :
Compte-rendu et recension critique d'ouvrage
DOI :
Titre :
Small-Time Stabilization of Homogeneous Cascaded Systems with Application to the Unicycle and the Slider Examples
Auteur(s) :
d'Andréa-Novel, Brigitte [Auteur]
Coron, Jean-Michel [Auteur]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Centrale Lille
Coron, Jean-Michel [Auteur]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Centrale Lille
Titre de la revue :
SIAM Journal on Control and Optimization
Pagination :
2997-3018
Éditeur :
Society for Industrial and Applied Mathematics
Date de publication :
2020-01
ISSN :
0363-0129
Mot(s)-clé(s) en anglais :
Nonholonomic kinematic
underactuated mechanical systems
small-time stabiliza- tion
homogeneity
time-varying feedback
underactuated mechanical systems
small-time stabiliza- tion
homogeneity
time-varying feedback
Discipline(s) HAL :
Informatique [cs]/Automatique
Résumé en anglais : [en]
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 ...
Lire la suite >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 technics.Lire moins >
Lire la suite >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 technics.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :
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