Published June 2003
| Published
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Control of underactuated driftless systems using higher-order averaging theory
- Creators
- Vela, Patricio A.
- Burdick, Joel W.
Abstract
This paper applies a recently developed "generalized averaging theory" to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average; the actual system may orbit around the average. Conditions for which the orbit collapses to the averaged trajectory are given. An example validates the theory, demonstrating its utility.
Additional Information
© 2003 IEEE. This work was supported in part by the NSF Engineering Research Center grant NSF9402726.Attached Files
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Additional details
- Eprint ID
- 77588
- Resolver ID
- CaltechAUTHORS:20170518-134910291
- EEC-9402726
- NSF
- Created
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2017-05-18Created from EPrint's datestamp field
- Updated
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2021-11-15Created from EPrint's last_modified field