Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles

DOI10.1007/S11071-015-2082-5zbMath1348.93221OpenAlexW1999425052MaRDI QIDQ328977

Takateru Urakubo

Publication date: 21 October 2016

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

Full work available at URL: https://doi.org/10.1007/s11071-015-2082-5

zbMATH Keywords

Lyapunov stabilityfeedback controlnonholonomic systempotential field method

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (6)

Saturated finite-time stabilization of uncertain nonholonomic systems in feedforward-like form and its application ⋮ Coordinated tracking for multiple nonholonomic vehicles on SE(2) ⋮ Barrier Lyapunov functions-based fixed-time stabilization of nonholonomic systems with unmatched uncertainties and time-varying output constraints ⋮ Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering ⋮ Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model ⋮ Necessary conditions for feedback stabilization and safety

Cites Work

• A contribution to the stability of nonholonomic systems.
• Hybrid potential field based control of differential drive mobile robots
• The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds
• Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot
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