Discontinuous energy shaping control of the Chaplygin sleigh

Title: Discontinuous energy shaping control of the Chaplygin sleigh
Creator: Ferguson, Joel; Donaire, Alejandro; Middleton, Richard H.
Relation: 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018. Proceedings of the 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018 (Valparaiso, Chile 01-04 May, 2018) p. 211-216
Publisher Link: http://dx.doi.org/10.1016/j.ifacol.2018.06.056
Publisher: Elsevier
Resource Type: conference paper
Date: 2018
Description: In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no satisfy Brockett's necessary condition for smooth stabilisation. Here, we propose a discontinuous control law that can be interpreted as a potential energy shaping and damping injection controller. The proposed controller is shown to be robust against the parameters of both the inertia matrix and the damping structure of the open-loop system.
Subject: nonholonomic systems; port-Hamiltonian systems; discontinuous control; robust control
Identifier: http://hdl.handle.net/1959.13/1430010
Identifier: uon:38794
Identifier: ISSN:2405-8963
Language: eng
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