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EnglishThis paper presents a discrete-time multirate technique for the set-point stabilization of nonholonomic systems in a chained form. Global practical exponential stabilization of the trivial equilibrium in the continuous-time system dynamics is achieved, by using multirate piecewise inputs and an inter-sampling analysis. As a case study, we consider the car-like robot stabilization problem. The control system quality is assessed through a quadratic cost function associated to the multi-sampling period. Robustness with respect to measurement errors and switching delays is also investigated.
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http://hdl.handle.net/11572/92393| Titolo: | Discrete-time multirate stabilization of chained form systems: convergence, robustness, and performance |
| Autori Unitn: | Palopoli, Luigi |
| Anno di pubblicazione: | 2001 |
| Abstract: | This paper presents a discrete-time multirate technique for the set-point stabilization of nonholonomic systems in a chained form. Global practical exponential stabilization of the trivial equilibrium in the continuous-time system dynamics is achieved, by using multirate piecewise inputs and an inter-sampling analysis. As a case study, we consider the car-like robot stabilization problem. The control system quality is assessed through a quadratic cost function associated to the multi-sampling period. Robustness with respect to measurement errors and switching delays is also investigated. |
| Handle: | http://hdl.handle.net/11572/92393 |
| ISBN: | 0780365763 |
| Appare nelle tipologie: | 04.1 Saggio in atti di convegno (Paper in proceedings) |
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