Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

In this article, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using...

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Bibliographic Details
Published in:	IEEE transactions on automatic control Vol. 70; no. 6; pp. 3571 - 3586
Main Authors:	Gzenda, Vaughn, Chhabra, Robin
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.06.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerospace electronics Approximation Closed loops Control systems Control theory Dynamics Exact solutions Feedback linearization Friction Invariance Invariants Kinetic energy Linearization Manifolds Manifolds (mathematics) mobile robots nonlinear dynamical systems Partial differential equations Perturbation methods Power series Proportional derivative Robot kinematics Robots Singular perturbation Stability analysis Tracking problem Vehicle dynamics
ISSN:	0018-9286, 1558-2523
Online Access:	Get full text
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