Control of non holonomic or under-actuated mechanical systems: The examples of the unicycle robot and the slider

DOI10.1051/COCV/2016047zbMath1350.93068OpenAlexW2470438958MaRDI QIDQ2835346

Sylvain Thorel, Brigitte d'Andréa-Novel

Publication date: 2 December 2016

Published in: ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1051/cocv/2016047

zbMATH Keywords

trajectory trackingtime-varying feedbacknonholonomic mechanical systemsunder-actuated systemsfixed-point stabilizationdifferential flatness propertypersistence of excitation condition

Mathematics Subject Classification ID

Controllability (93B05) Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60)

Related Items (2)

A novel online gait optimization approach for biped robots with point-feet ⋮ Small-Time Stabilization of Homogeneous Cascaded Systems with Application to the Unicycle and the Slider Examples

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Phantom tracking method, homogeneity and rapid stabilization
• Obstructions to the existence of universal stabilizers for smooth control systems
• Global asymptotic stabilization for controllable systems without drift
• Sufficient Lyapunov-like conditions for stabilization
• Nonlinear control systems.
• On dynamic feedback linearization
• A positive real condition for global stabilization of nonlinear systems
• Constructive nonlinear control
• Decoupling with dynamic compensation for strong invertible affine non-linear systems
• Uniform controllability of a class of linear time-varying systems
• Exponential Stabilization of an Underactuated Surface Vessel
• Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• A linear algebraic framework for dynamic feedback linearization
• On the Stabilization in Finite Time of Locally Controllable Systems by Means of Continuous Time-Varying Feedback Law
• Flatness and defect of non-linear systems: introductory theory and examples

This page was built for publication: Control of non holonomic or under-actuated mechanical systems: The examples of the unicycle robot and the slider