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Global uniform asymptotic Lyapunov stabilization of a vectorial chained-form system with a smooth time-varying control law.
Christian Holden
Kristin Ytterstad Pettersen
Published in:
CDC (2008)
Keyphrases
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control law
closed loop
nonlinear systems
control theory
control system
control algorithm
adaptive control
control scheme
dynamical systems
control strategy
motion planning
optimal control
lyapunov function
fault tolerant control
stability analysis
autonomous robots
feedback controller
trajectory tracking
sliding mode
parameter identification
reference trajectory
asymptotic stability
tracking error
linear model
feedback control
fuzzy logic
multi modal
sufficient conditions
input output
control method
real time