Published June 1993
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Convergence Rates for Nonholonomic Systems in Power Form
- Creators
- M'Closkey, Robert T.
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Murray, Richard M.
Abstract
This paper investigates the convergence rates of several controllers for low dimenional nonholonomic systems in power form. The method of multiple scales is found to be effective in determining the asymptotic form of the solutions. The general form of the perturbation solutions indicates how parameters in the control laws may be chosen to achieve a desired convergence rate. A detailed analysis of controllers exhibiting exponential convergence is included.
Additional Information
© 1993 IEEE. Supported in part by AFOSR F49620-92J-0293. Supported in part by a grant from the Powell Foundation. The authors are indebted to Prof. D. Cohen for discussions concerning the perturbation analysis.Attached Files
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Additional details
- Eprint ID
- 93923
- Resolver ID
- CaltechAUTHORS:20190318-123339977
- F49620-92J-0293
- Air Force Office of Scientific Research (AFOSR)
- Charles Lee Powell Foundation
- Created
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2019-03-18Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field