Stabilizing control of symmetric affine systems by Direct Gradient Descent Control


This paper is concerned with control of nonholonomic systems. As is well known, symmetric affine system is uncontrollable with continuous time-invariant differentiable state feedback. In this paper we apply direct gradient descent control (DGDC) for the symmetric affine system. The DGDC is such a method that we manipulate control inputs directly so as to… (More)


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