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Controllability and State Feedback Stabilizability of Nonholonomic Mechanical Systems

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Campion, Guy [UCL] Dandreanovel, B. Bastin, Georges [UCL]

The dynamics of non holonomic mechanical system are described by the classical Euler-Lagrange equations subjected to a set of non-integrable constraints. Non holonomic systems are strongly accessible whatever the structure of the constraints. They cannot be asymptotically stabilized by a smooth pure state feedback. However smooth state feedback control laws can be designed which guarantee the global marginal stability of non holonomic systems.

Document type Article de périodique (Journal article) – Article de recherche
Access type Accès restreint
Publication date 1991
Language Anglais
Journal information "Lecture Notes in Control and Information Sciences" - Vol. 162, p. 106-124 (1991)
Peer reviewed yes
Publisher Springer Verlag (New York)
issn 0170-8643
e-issn 1610-7411
Publication status Publié
Affiliation UCL
Links
Bibliographic reference Campion, Guy ; Dandreanovel, B. ; Bastin, Georges. Controllability and State Feedback Stabilizability of Nonholonomic Mechanical Systems. In: Lecture Notes in Control and Information Sciences, Vol. 162, p. 106-124 (1991)
Permanent URL http://hdl.handle.net/2078.1/49847