Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples
Optimization and Control
2019-05-28 v1 Systems and Control
Abstract
This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the unicycle robot, or for underactuated mechanical systems, an example being the slider. Explicit time-varying feedback laws leading to small-time stabilization are constructed for these two control systems. The main tools are homogeneity, backstepping, and desingularization technics.
Keywords
Cite
@article{arxiv.1905.11132,
title = {Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples},
author = {Brigitte d'Andréa-Novel and Jean-Michel Coron and Wilfrid Perruquetti},
journal= {arXiv preprint arXiv:1905.11132},
year = {2019}
}