Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples - Archive ouverte HAL Access content directly
Preprints, Working Papers, ... Year : 2019

Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples

Brigitte d'Andréa-Novel
Jean-Michel Coron
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Abstract

This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the unicycle robot, or for underactuated mechanical systems, an example being the slider. Explicit time-varying feedback laws leading to small-time stabilization are constructed for these two control systems. The main tools are homogeneity, backstepping, and desingularization technics.
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Dates and versions

hal-02140549 , version 1 (27-05-2019)

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  • HAL Id : hal-02140549 , version 1

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Brigitte d'Andréa-Novel, Jean-Michel Coron, Wilfrid Perruquetti. Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples. 2019. ⟨hal-02140549⟩
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