Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot

DOI10.1023/A:1008318423148zbMath0986.70008OpenAlexW137363783MaRDI QIDQ5931817

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Publication date: 16 July 2001

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1008318423148

zbMATH Keywords

nonlinear controlfeedback stabilization\(n\)-dimensional nonholonomic chained systemsclosed-loop trajectorydiscontinuous time-invariant state feedbackinvariant manifold approachlinear smooth time-invariant state feedbackmobile robot

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Stability problems in rigid body dynamics (70E50)

Related Items (4)

Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles ⋮ Predictive variable structure control of nonholonomic chained systems ⋮ Simultaneous tracking and regulation visual servoing of wheeled mobile robots with uncalibrated extrinsic parameters ⋮ Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model

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