### Abstract

This paper considers problem of stabilization of the first order nonholonomic chained system using polar-like coordinates. A control method considered here can be regarded as an extension of control solution based on polar coordinate transformation in order to apply it to other system than unicycle. Presented control strategy gives possibility to obtain fast convergence of regulation errors without oscillatory behavior. A robustness of the controller in the neighborhood of the desired point is ensured via additional non-smooth techniques. In order to verify usefulness of developed control strategy simulation results are given.

Original language | English |
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Title of host publication | 2009 European Control Conference, ECC 2009 |

Publisher | Institute of Electrical and Electronics Engineers Inc. |

Pages | 2751-2756 |

Number of pages | 6 |

ISBN (Print) | 9783952417393 |

Publication status | Published - Mar 26 2014 |

Event | 2009 10th European Control Conference, ECC 2009 - Budapest, Hungary Duration: Aug 23 2009 → Aug 26 2009 |

### Other

Other | 2009 10th European Control Conference, ECC 2009 |
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Country | Hungary |

City | Budapest |

Period | 8/23/09 → 8/26/09 |

### Fingerprint

### ASJC Scopus subject areas

- Control and Systems Engineering

### Cite this

*2009 European Control Conference, ECC 2009*(pp. 2751-2756). [7074823] Institute of Electrical and Electronics Engineers Inc..

**Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation.** / Pazderski, Dariusz; Kozlowski, Krzysztof; Tar, J.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*2009 European Control Conference, ECC 2009.*, 7074823, Institute of Electrical and Electronics Engineers Inc., pp. 2751-2756, 2009 10th European Control Conference, ECC 2009, Budapest, Hungary, 8/23/09.

}

TY - GEN

T1 - Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation

AU - Pazderski, Dariusz

AU - Kozlowski, Krzysztof

AU - Tar, J.

PY - 2014/3/26

Y1 - 2014/3/26

N2 - This paper considers problem of stabilization of the first order nonholonomic chained system using polar-like coordinates. A control method considered here can be regarded as an extension of control solution based on polar coordinate transformation in order to apply it to other system than unicycle. Presented control strategy gives possibility to obtain fast convergence of regulation errors without oscillatory behavior. A robustness of the controller in the neighborhood of the desired point is ensured via additional non-smooth techniques. In order to verify usefulness of developed control strategy simulation results are given.

AB - This paper considers problem of stabilization of the first order nonholonomic chained system using polar-like coordinates. A control method considered here can be regarded as an extension of control solution based on polar coordinate transformation in order to apply it to other system than unicycle. Presented control strategy gives possibility to obtain fast convergence of regulation errors without oscillatory behavior. A robustness of the controller in the neighborhood of the desired point is ensured via additional non-smooth techniques. In order to verify usefulness of developed control strategy simulation results are given.

UR - http://www.scopus.com/inward/record.url?scp=84955213619&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84955213619&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9783952417393

SP - 2751

EP - 2756

BT - 2009 European Control Conference, ECC 2009

PB - Institute of Electrical and Electronics Engineers Inc.

ER -