G.C. Walsh and L.G. Bushnell
EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M93/43
June 1993
http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/ERL-93-43.pdf
This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result [10] on stabilizing the above class of systems which have two inputs. Along the way, we construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizers the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.
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BibTeX citation:
@techreport{Walsh:M93/43, Author = {Walsh, G.C. and Bushnell, L.G.}, Title = {Stabilization of Multiple Input Chained Form Control Systems}, Institution = {EECS Department, University of California, Berkeley}, Year = {1993}, Month = {Jun}, URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2358.html}, Number = {UCB/ERL M93/43}, Abstract = {This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result [10] on stabilizing the above class of systems which have two inputs. Along the way, we construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizers the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.} }
EndNote citation:
%0 Report %A Walsh, G.C. %A Bushnell, L.G. %T Stabilization of Multiple Input Chained Form Control Systems %I EECS Department, University of California, Berkeley %D 1993 %@ UCB/ERL M93/43 %U http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2358.html %F Walsh:M93/43