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