Piecewise feedback stabilization of nonholonomic mobile robots

MaRDI QIDQ2705741zbMATH OpenFDO

Authors Zhongxu Hu, Yueming Hu, Zongyuan Mao

Publication date 27 June 2001

Published in Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

feedback linearizationnonholonomic mobile robotstabilization

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Review text

Based on feedback linearization and state feedback, dividing the system into two subsystems, a piecewise continuous state feedback control is proposed for the stabilization of a nonholonomic mobile robot. Some simulation results are given.

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• Design an intelligent proportional-derivative (PD) feedback linearization control for nonholonomic-wheeled mobile robot
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• Recursive backstepping stabilization of a wheeled mobile robot
• Discontinuous feedback stabilization of nonholonomic wheeled mobile robots
• Cascaded feedback linearization and its application to stabilization of nonholonomic systems

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