This paper uses irregular feedback linearization to stabilize nonholonomic chained systems. A discontinuous nonlinear transformation is constructed to change nonholonomic chained systems into linear systems,so that it possible to design feedback control laws using theory of linear systems. Then, a convenient invariant set and a switching rule are explicitly constructed for the high-dimension nonholonomic chained systems. The obtained discontinuous control laws can guarantee convergence of the close-loop system with an exponential rate and bounded inputs. Finally, simulation is provided to justify the effectiveness of the approach.
WANG Tingting
,
ZHAO Wanchun
,
SHAO Keyong
. Global K-exponential stabilization of nonholonomic chained systems based on nonregular feedback[J]. Science & Technology Review, 2015
, 33(9)
: 13
-17
.
DOI: 10.3981/j.issn.1000-7857.2015.09.001
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