This paper gives a control law for stabilizing multiple input chained form control systems. This extends an earlier result [10] on stabilizing the above class of systems which have two inputs. Along the way, we construct a transformation from general chained form systems with multiple generators to a power form. A control law which stabilizers the origin of a three-input control system that models the kinematics of a fire truck is simulated, confirming the theoretical results.
Title
Stabilization of Multiple Input Chained Form Control Systems
Published
1993-01-01
Full Collection Name
Electrical Engineering & Computer Sciences Technical Reports
Other Identifiers
ERL-93-43
Type
Text
Extent
44 p
Archive
The Engineering Library
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