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.

Discrete-time multirate stabilization of chained form systems: convergence, robustness, and performance

Palopoli, Luigi
2001-01-01

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.
2001
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Seoul, Korea
IEEE Robotics and automation society
0780365763
F., Conticelli; Palopoli, Luigi
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/92393
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