Extended Lyapunov Control of First Order Systems and Its Applications

Takateru Urakubo; Kazuo Tsuchiya; Yukio Tada

doi:10.11499/sicep.2002.0.486.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.486.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Extended Lyapunov Control of First Order Systems and Its Applications

Takateru Urakubo, Kazuo Tsuchiya, Yukio Tada

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Keywords: nonholonomic system, Lyapunov control, discontinuous feedback law

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 486

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Abstract

This paper deals with the control problem for a class of nonholonomic systems, first order systems. A time-invariant discontinuous state feedback law for the systems which makes the desired point the only stable equilibrium point is designed by extending Lyapunov control. The designed controller is applied to some examples of the systems such as a spacecraft.

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