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- W2539568757 abstract "This paper is concerned with feedback control algorithm for a class of nonholonomic symmetric affine systems with multigenerators. The controllability Lie algebra of multigenerator systems have essentially different nature from single-generator systems (such as chained form systems), in terms of their controllability structure. This difference prevents us to apply conventional time-varying/discontinuous feedback control methods and a new clue is now required. In this paper., we make a notice that a multigenerator dynamics is partially considered a single-generator system, and each subsystem can be stabilized by any existing controller proposed for chained systems. What we propose here is a switching control algorithm, in that each generator is chosen in sequence and corresponding sub-controllers are applied, where each sub-controller is designed by existing methods for chained systems. The efficiency of the proposed strategy is evaluated via numerical simulations." @default.
- W2539568757 created "2016-11-04" @default.
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- W2539568757 date "2003-12-22" @default.
- W2539568757 modified "2023-10-01" @default.
- W2539568757 title "Feedback control of nonholonomic systems with multi-generators" @default.
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- W2539568757 doi "https://doi.org/10.1109/sice.2002.1195744" @default.
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