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Nonholonomic control systems: from steering to stabilization with sinusoids

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3 Author(s)
Teel, A.R. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Murray, R.M. ; Walsh, G.

The authors present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law combines earlier work in steering nonholonomic systems using sinusoids at integrally related frequencies, with the ideas in recent results on globally stabilizing linear and nonlinear systems through the use of saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included

Published in:

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Date of Conference: