F. Hamerlain

Dynamic surface control-based stabilization of an nth chained systems with application to a car-like robot

This work aims to design a Dynamic Surface Controller (DSC) in order to stabilize the nth order chained systems able to express several kinds of nonholonomic, nonlinear and underactuated systems as unicycle, car-like, be-steerable car, car with trailer, etc. These latter are difficult to handle beca…