International Journal of Control · 1995 · 137 citations · 16 references
EngineeringAutomotive EngineeringSystems EngineeringDynamical SystemsSystem DynamicsVehicle DynamicsControl Of Dynamical SystemsControl SystemsControl TheoryNonlinear ControlNonlinear DynamicsSteering DynamicsClosed-loop Feedback SystemsControl Law DesignNonholonomic ControlNonholonomic DynamicsNonholonomic SystemsNonlinear SystemsSaturationStabilization Of Nonlinear Systems
We present a control law for globally asymptotically stabilizing a class of controllable nonlinear systems without drift. The control law converts into closed loop feedback earlier strategies for open loop steering of non-holonomic systems using sinusoids at integrally related frequencies. The global result is obtained by introducing saturation functions. Simulation results for stabilizing a simple kinematic model of an automobile are included.
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