publication . Part of book or chapter of book . Conference object . 2003

Control of underactuated driftless systems using higher-order averaging theory

P.A. Vela; J.W. Burdick;
Open Access
  • Published: 01 Jun 2003
  • Publisher: IEEE
  • Country: United States
This paper applies a recently developed "generalized averaging theory" to construct stabilizing feedback control laws for underactuated driftless systems. These controls exponentialy stabilize in the average; the actual system may orbit around the average. Conditions for which the orbit collapses to the averaged trajectory are given. An example validates the theory, demonstrating its utility.
Related Organizations
Download fromView all 2 versions
Caltech Authors
Part of book or chapter of book . 2003
Conference object . 2004
Provider: Crossref
Powered by OpenAIRE Research Graph
Any information missing or wrong?Report an Issue