Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

Stabilization of Multiple Input Chained Form Control Systems

G.C. Walsh and L.G. Bushnell

EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M93/43
1993

This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result [10] on stabilizing the above class of systems which have two inputs. Along the way, we construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizers the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.


BibTeX citation:

@techreport{Walsh:M93/43,
    Author = {Walsh, G.C. and Bushnell, L.G.},
    Title = {Stabilization of Multiple Input Chained Form Control Systems},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1993},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/1993/2358.html},
    Number = {UCB/ERL M93/43},
    Abstract = {This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result [10] on stabilizing the above class of systems which have two inputs. Along the way, we construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizers the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.}
}

EndNote citation:

%0 Report
%A Walsh, G.C.
%A Bushnell, L.G.
%T Stabilization of Multiple Input Chained Form Control Systems
%I EECS Department, University of California, Berkeley
%D 1993
%@ UCB/ERL M93/43
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/1993/2358.html
%F Walsh:M93/43