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Zbl 0877.93107
Astolfi, A.
Discontinuous control of nonholonomic systems.
(English)
[J] Syst. Control Lett. 27, No.1, 37-45 (1996). ISSN 0167-6911

Summary: The problem of asymptotic convergence for a class of nonholonomic control systems via discontinuous control is addressed and solved from a new point of view. It is shown that control laws, which ensures asymptotic (exponential) convergence of the closed-loop system, can be easily designed if the system is described in proper coordinates. In such coordinates, the system is discontinuous. Hence, the problem of local asymptotic stabilization for a class of discontinuous nonholonomic control systems is dealt with and a general procedure to transform a continuous system into a discontinuous one is presented. Moreover, a general strategy to design discontinuous control laws, yielding asymptotic convergence, for a class of nonholonomic control systems is proposed. The enclosed simulation results show the effectiveness of the method.
MSC 2000:
*93D15 Stabilization of systems by feedback
70F25 Nonholonomic systems

Keywords: Nonholonomic systems; $\sigma$ process; Discontinuous control; stabilization

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