NDLI: A general invariance principle for nonlinear time-varying systems with application to mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Lee, T.C. Jhi, H.L.
Copyright Year	1999
Description	Author affiliation: Dept. of Electr. Eng., Ming Hsin Inst. of Technol., Hsinchu, Taiwan (Lee, T.C.; Jhi, H.L.)
Abstract	A general invariance principle is proposed from the output-to-state view-point for general nonlinear time-varying systems. A simple and intuitive criterion is proposed using an integral inequality involving the output function and a modified detectability condition. When applied to systems having a Lyapunov function, the well-known LaSalle's invariance principle can be deduces based on our approach. A similar criterion, called the integral invariance principle, was proposed by Byrnes and Martin for nonlinear time-invariant systems. In general, it can not be directly applied to time-varying systems. Our proposed method can be viewed as an extension of the integral invariance principle for time-invariance systems to time-varying systems. The extension is not trivial and can be used in divergence research area, including the adaptive control, the tracking control and the control of driftless systems. In particular, a globally tracking controller for 4-wheeled mobile robots is proposed based on the invariance principle derived in this paper. From this example, it can be seen that as LaSalle invariance principle is used in study the stability of time-invariant systems, our results can be also used to study the stability of time-varying systems along a similar argument.
Starting Page	2524
Ending Page	2529
File Size	343766
Page Count	6
File Format	PDF
ISBN	9783952417355
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-08-31
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	EUCA
Subject Keyword	Asymptotic stability Simulation Stability criteria Mobile Robots Trajectory Mobile robots Time-varying systems Time-Varying Lyapunov methods Invariance Principle
Content Type	Text
Resource Type	Article

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