Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers

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Robert T. M'Closkey and Richard M. Murray
1994 Symposium on Robot Control (SYROCO)

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.