Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form

M. Alamir, N. Marchand
Proceedings of the 41st IEEE Conference on Decision and Control, 2002.  
In this paper, a discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Suboptimal formulations are used explicitly to meet the real-time implementability requirements. Stability is established in a sampleddata context and illustrative simulations are given to show the effectiveness and the real-time
more » ... real-time implementability of the proposed scheme.
doi:10.1109/cdc.2002.1184519 fatcat:ektrkoih65apxguqc2khyyhnci