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Zbl 0980.93067
Xu, W.L.; Huo, W.
Variable structure exponential stabilization of chained systems based on the extended nonholonomic integrator. (English)
[J] Syst. Control Lett. 41, No.4, 225-235 (2000). ISSN 0167-6911

Summary: A new variable structure control strategy for exponentially stabilizing chained systems is presented based on the extended nonholonomic integrator model, the discontinuous coordinate transformation and the ``reaching law method'' in variable structure control design. The proposed approach converts the stabilization problem of an $n$-dimensional chained system into the pole-assignment problem of an $(n-3)$-dimensional linear time-invariant system and consequently simplifies the stabilization controller design of nonholonomic chained systems.

MSC 2000:: *93D15 Stabilization of systems by feedback
70F25 Nonholonomic systems
93B12 Variable structure systems
93B17 System transformation
93B55 Pole and zero placement problems

Keywords: nonholonomic control systems; chained systems; variable structure control; stabilization; extended nonholonomic integrator model; discontinuous coordinate transformation; reaching law method; pole-assignment

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