Controllability and state feedback stabilizability of non holonomic mechanical systems
Lecture notes in control and information sciencesPublished 6 February 2006
G. Campion, Brigitte d’Andréa-Novel, Georges Bastin
Citations155
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Abstract
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.
Keywords
Engineering
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