Stabilization of Trajectories for Systems
نویسندگان
چکیده
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see 2]) that such systems cannot be stabilized to a point using smooth-static state feedback. In this paper we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajec-tory, the paper gives an explicit control law which will locally exponentially stabilize the system to the desired trajectory. The theory is applied to several examples, including a car-like robot.
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تاریخ انتشار 1994