Feedback stabilization of a fire truck by using model decomposition

摘要

Presents a simple and systematic approach for feedback stabilization of nonholonomic control systems having six state variables and three inputs: a model of fire truck is such an example. The method relies on the decomposition of the model into two subsystems. One subsystem is stabilized by a trajectory interception approach and other subsystem by using just sinusoidal inputs. The mixture of both type of control will stabilize the actual system. This approach does not necessitate the conversion of the system model into a "chained form", and thus does not rely on any special transformation techniques. It is shown that, under some conditions, and in the absence of disturbances and model error, this approach furnishes dead-beat control.