Constrained Minimum-Time-Oriented Feedback Control for the Stabilization of Nonholonomic Systems in Chained Form

M. Alamir and N. Marchand
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M. Alamir: Laboratoire d'Automatique de Grenoble
N. Marchand: Maître de Conférence

Journal of Optimization Theory and Applications, 2003, vol. 118, issue 2, No 1, 229-244

Abstract: Abstract In this paper, a discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Suboptimal formulations are used explicitly to meet the real-time implementability requirements. Stability is established in a sampled-data context and illustrative simulations are given to show the effectiveness and the real-time implementability of the proposed scheme.

Keywords: Nonholonomic systems; sampled control; saturated control; stabilization; receding-horizon control (search for similar items in EconPapers)
Date: 2003
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DOI: 10.1023/A:1025447419855

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