Practical Stabilization of Nonlinear Systems in Chained Form

Content Provider	Semantic Scholar
Author	Berghuis, Harry V. Hollandse Signaal Apparaten B. Wit, Carlos Canudas De
Copyright Year	2004
Abstract	This paper presents a h y b r i d controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1. A discrete-time pa.rt that practically stabilizes a subset of the system states, and 2. A piece-wise continuous-time part that steers the remaining state-components to a.n arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop sta.bility properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://doc.utwente.nl/96360/1/wit94practical.pdf
Language	English
Access Restriction	Open
Subject Keyword	Arabic numeral 0 Cascade Device Component Controllers Generalization (Psychology) Incision and drainage Mobile robot Nonlinear system Robot (device) Subgroup
Content Type	Text
Resource Type	Article