Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path

DOI10.1134/S0005117909020040MaRDI QIDQ1027690zbMATH OpenFDO

Authors L. B. Rapoport, Alexander Pesterev

Publication date 30 June 2009

Published in Automation and Remote Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1134/S0005117909020040

zbMATH Keywords

absolute stability theoryapproximations of the attraction domainsmotion of a wheeled robotsynthesis control problem

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Synthesis problems (93B50) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Algorithm to construct invariant ellipsoids in the problem of stabilization of wheeled robot motion
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Cites work

• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• scientific article; zbMATH DE number 1480260 (Why is no real title available?)
• scientific article; zbMATH DE number 1871421 (Why is no real title available?)
• Linear Matrix Inequalities in System and Control Theory
• Motion control for a wheeled robot following a curvilinear path
• Smoothing curvature of trajectories constructed by noisy measurements in path planning problems for wheeled robots

Cited in

(12)

• Algorithm to construct invariant ellipsoids in the problem of stabilization of wheeled robot motion
• A linearizing feedback for stabilizing a car-like robot following a curvilinear path
• Estimation of the attraction domain for an affine system with constrained vector control closed by the linearizing feedback
• Attraction domain estimate for single-input affine systems with constrained control
• The periodic solution of two-dimensional linear nonstationary systems and estimation of the attraction domain boundary in the problem of control of a wheeled robot
• Canonical representation of the path following problem for wheeled robots
• Canonical representation of a nonstationary path following problem
• Stabilization problem for a wheeled robot following a curvilinear path on uneven terrain
• Synthesis of a stabilizing control for a wheeled robot following a curvilinear path
• Ellipsoidal approximations of the attraction domain in the path following problem for a wheeled robot with constrained resource
• Construction of the best ellipsoidal approximation of the attraction domain in stabilization problem for a wheeled robot
• Motion control for a wheeled robot following a curvilinear path

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