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Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers |
Abstract |
This paper describes an approach for exten … This paper describes an approach for extending (time-varying)
exponential stabilizers for nonholonomic systems from controllers which
command input velocity to controllers which command input torques. Due
to the nondifferentiable nature of exponential stablizers, additional
structure is required in order to ensure that the extended controllers
generate continuous control actions. In this paper we show how to
extend homogeneous controllers which use a nonstandard dilation adapted
to the problem. nstandard dilation adapted
to the problem. +
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Authors | Robert T. M'Closkey and Richard M. Murray + |
Flags | NoRequest + |
ID | 1994a + |
Source | 1994 Symposium on Robot Control (SYROCO) + |
Tag | mm94-syroco + |
Title | Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:52 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/mm94-syroco.pdf + |
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