Global uniform asymptotic Lyapunov stabilization of a vectorial chained-form system with a smooth time-varying control law.
Christian HoldenKristin Ytterstad PettersenPublished in: CDC (2008)
Keyphrases
- 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