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Journal Articles International Journal of Robust and Nonlinear Control Year : 2020

Smooth, time‐invariant regulation of nonholonomic systems via energy pumping‐and‐damping

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Abstract

In this article we propose an energy pumping-and-damping technique to regulate nonholonomic systems described by kinematic models. The controller design follows the widely popular interconnection and damping assignment passivity-based methodology, with the free matrices partially structured. Two asymptotic regulation objectives are considered: drive to zero the state or drive the systems total energy to a desired constant value. In both cases, the control laws are smooth, time-invariant, state-feedbacks. For the nonholonomic integrator we give an almost global solution for both problems, with the objectives ensured for all system initial conditions starting outside a set that has zero Lebesgue measure and is nowhere dense. For the general case of higher order nonholonomic systems in chained form, a local convergence result is given. Simulation results comparing the performance of the proposed controller with other existing designs are also provided.

Dates and versions

hal-03387947 , version 1 (20-10-2021)

Identifiers

Cite

Bowen Yi, Romeo Ortega, Weidong Zhang. Smooth, time‐invariant regulation of nonholonomic systems via energy pumping‐and‐damping. International Journal of Robust and Nonlinear Control, 2020, 30 (16), pp.6399-6413. ⟨10.1002/rnc.5109⟩. ⟨hal-03387947⟩
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