This paper deals with the stability problem for non-holonomic systems and describes a sufficient condition for the existence of a time-varying switching control scheme which globally asymptotically stabilizes the zero equilibrium. The sufficient condition is based on a new concept of Lyapunov function for hybrid systems which is used in the demonstration of a stability theorem. The new idea is also put in relation with known theoretical tools such as a multiple Lyapunov function and a common Lyapunov function. Finally, a simple example of a non-holonomic system is taken into account, for which the existence of a stabilizing switching control law is proven. The results of some simulations are also reported in order to evaluate qualitatively the effecrtiveness of the method.
Achieving stability in non-holonomic systems by means of switched control laws
CASAGRANDE, Daniele;
2013-01-01
Abstract
This paper deals with the stability problem for non-holonomic systems and describes a sufficient condition for the existence of a time-varying switching control scheme which globally asymptotically stabilizes the zero equilibrium. The sufficient condition is based on a new concept of Lyapunov function for hybrid systems which is used in the demonstration of a stability theorem. The new idea is also put in relation with known theoretical tools such as a multiple Lyapunov function and a common Lyapunov function. Finally, a simple example of a non-holonomic system is taken into account, for which the existence of a stabilizing switching control law is proven. The results of some simulations are also reported in order to evaluate qualitatively the effecrtiveness of the method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
