{"title":"Order-reduced stabilization design of nonholonomic chained systems based on new canonical forms","authors":"S. Wang, W. Huo, Weijiao Xu","doi":"10.1109/CDC.1999.827859","DOIUrl":null,"url":null,"abstract":"In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1999.827859","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.
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