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