On the location of LQ-optimal closed-loop poles
This paper represents an exponentially stable controller for-a-two-degree-of freedom robot with nonholonomic constraints. Although this type of system is open loop controllable, this system has been shown to be nonstabilizable via pure smooth feedback (Brockett 1983, Samson and Ait-Abderrahim 1991)....
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1992-01-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1992/MIC-1992-1-1.pdf |