By Topic

Switched feedback control for first-order symmetric affine systems via time-state control form

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Iwatani, Y. ; Dept. of Mech. & Environ. Informatics, Tokyo Inst. of Technol., Japan ; Ishikawa, M. ; Hara, S.

This paper proposes a switching control strategy for a class of symmetric affine systems whose accessibility Lie algebras are spanned by the input vector fields and their first order Lie brackets. The key idea here is to decompose a given system into several (chained) subsystems, and then to apply a conventional control method for these subsystems in sequence. As for the conventional part, we adopt the time-state control method. The proposed strategy guarantees convergence of the state to an arbitrarily given neighborhood of the origin. Finally, with a numerical example, we show that a new type of mobile robot which can be approximated by a system in the class applied to the strategy is valid as well.

Published in:

American Control Conference, 2002. Proceedings of the 2002  (Volume:3 )

Date of Conference:

2002