Stabilization of Nonholonomic Systems Using Isospectral Flows
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Society for Industrial and Applied Mathematics
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Abstract
In this paper we derive and analyze a discontinuous stabilizing feedback for a Lie algebraic generalization of a class of kinematic nonholonomic systems introduced by Brockett. The algorithm involves discrete switching between isospectral and norm-decreasing flows. We include a rigorous analysis of the convergence. Keywords: Nonlinear control, nonholonomic systems, isospectral flows, Lie theory
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Nonholonomic dynamical systems
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Bloch, A.M., Drakunov, S.V., & Kinyon, M.K. (2000). Stabilization of Nonholonomic Systems Using Isospectral Flows. SIAM Journal on Control and Optimization, 38, 855-874.
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Article