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

Dariusz Pazderski, Krzysztof Kozlowski, J. Tar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publication2009 European Control Conference, ECC 2009
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2751-2756
Number of pages6
ISBN (Print)9783952417393
Publication statusPublished - Mar 26 2014
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: Aug 23 2009Aug 26 2009

Other

Other2009 10th European Control Conference, ECC 2009
CountryHungary
CityBudapest
Period8/23/098/26/09

Fingerprint

Robustness (control systems)
Stabilization
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Pazderski, D., Kozlowski, K., & Tar, J. (2014). Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation. In 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.

2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2751-2756 7074823.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pazderski, D, Kozlowski, K & Tar, J 2014, Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation. in 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.
Pazderski D, Kozlowski K, Tar J. Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation. In 2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2751-2756. 7074823
Pazderski, Dariusz ; Kozlowski, Krzysztof ; Tar, J. / Discontinuous stabilizer of the first order chained system using polar-like coordinates transformation. 2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2751-2756
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