G.C. Walsh and L.G. Bushnell

EECS Department, University of California, Berkeley

Technical Report No. UCB/ERL M93/43

, 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},
    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