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Feedback Control of Nonholonomic Systems

Authors: [tex2html_wrap4434]H. Michalska

Investigator username: michalsk

Category: systems and control theory


Nonlinear systems with nonholonomic constraints are encountered quite frequently in practice but are known to be particularly difficult to control. The difficulty in steering such systems is caused by the fact that their linearization is uncontrollable and fully linearizing state-feedback transformations cannot be constructed.

The problem of stabilization and set point feedback control for such systems is investigated. The class of systems considered consists of all drift-less systems, with two inputs, which can be transformed into a chained form. A discontinuous feedback law is proposed which allows to control the full state vector of any chained system of order two.