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• W2133718291 abstract "This paper presents a discrete-time multirate technique for the set-point stabilization of nonholonomic systems in a chained form. Global practical exponential stabilization of the trivial equilibrium in the continuous-time system dynamics is achieved, by using multirate piecewise inputs and an inter-sampling analysis. As a case study, we consider the car-like robot stabilization problem. The control system quality is assessed through a quadratic cost function associated to the multi-sampling period. Robustness with respect to measurement errors and switching delays is also investigated." @default.
• W2133718291 created "2016-06-24" @default.
• W2133718291 creator A5006224560 @default.
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• W2133718291 date "2002-11-13" @default.
• W2133718291 modified "2023-09-25" @default.
• W2133718291 title "Discrete-time multirate stabilization of chained form systems: convergence, robustness, and performance" @default.
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• W2133718291 doi "https://doi.org/10.1109/robot.2001.932816" @default.
• W2133718291 hasPublicationYear "2002" @default.
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