ACC03-IEEE0376 Control of Underactuated Driftless Systems Using Higher-Order Averaging Theory
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چکیده
This papers applies a recently developed ”generalized averaging theory” to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average. Conditions relating the properties of the averaged and unaveraged systems are given. An example validates the theory, demonstrating its utility.
منابع مشابه
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تاریخ انتشار 2002