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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.  +
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
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15 May 2016 06:20:52  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mm94-syroco.pdf  +
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Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers + Title
 

 

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