Robust stabilization via iterative state steering with an application to chained-form systems

DOI10.1016/S0005-1098(00)00124-2MaRDI QIDQ1592895zbMATH OpenOpenAlexWikidataFDO

Authors Pasquale Lucibello, G. Oriolo

Publication date 1 August 2001

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(00)00124-2

zbMATH Keywords

robust stabilizationmobile robotsunicyclenonlinear control process

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Adaptive or robust stabilization (93D21)

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• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach
• Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
• Exponential stabilization of nonholonomic chained systems
• Globally stabilising discontinuous feedback law for a class of nonlinear systems
• On the Synthesis of a Stabilizing Feedback Control via Lie Algebraic Methods
• Robust stabilization via iterative state steering with an application to chained-form systems

Cited in

(9)

• Discontinuous steering control for nonholonomic systems with drift
• Steering Control for a Rigid Body with two Torque Actuators using Adaptive Back Stepping
• Input-to-state stability for discrete-time time-varying systems with applications to robust stabilization of systems in power form
• Application of the VFO method to set-point control for theN-trailer vehicle with off-axle hitching
• Vector-field-orientation tracking control for a mobile vehicle disturbed by the skid-slip phenomena
• Local robust regulation of chained systems
• Robust stabilization via iterative state steering with an application to chained-form systems
• Hermite polynomials for iterative output replanning for flat systems affected by additive noise
• Steering control of nonholonomic systems with drift: the extended nonholonomic double integrator example

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