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
Abstract
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.
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Part of book or chapter of book . 2003
http://xplorestaging.ieee.org/...
Conference object . 2004
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