Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

DOI10.1016/S0167-6911(99)00062-6MaRDI QIDQ1978486zbMATH OpenOpenAlexFDO

Authors J. P. Hespanha, Daniel Liberzon, A. Stephen Morse

Publication date 4 June 2000

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0167-6911(99)00062-6

zbMATH Keywords

estimator-based supervisorhybrid feedback controlmodeling uncertaintynonholonomic systemunicyclewheeled mobile robot

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

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• Nonholonomic motion planning: steering using sinusoids
• Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach
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• Supervisory control of families of linear set-point controllers - Part I. Exact matching

Cited in

(18)

• Supervision of integral-input-to-state stabilizing controllers
• External stability of switching control systems
• Delay-dependent stability analysis of TS fuzzy switched time-delay systems
• Event-based aperiodically intermittent pinning synchronization control strategy for linearly coupled complex networks
• Supervisory switching control for linear hyperbolic systems
• Switching control and time-delay identification
• Overcoming the limitations of adaptive control by means of logic-based switching
• Multiple model adaptive control. II: Switching
• Analysis and control of deterministic and stochastic dynamical systems with time delay
• Adaptive control of uncertain nonholonomic systems in finite time
• Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters
• On the computation of set-induced control Lyapunov functions for continuous-time systems
• On some properties of solutions of switched differential equations
• Adaptive controller of nonlinear systems with unknown control directions and unknown input powers
• Model predictive control of non-holonomic systems: beyond differential-drive vehicles
• Positioning and antiswing control of overhead crane systems: a supervisory scheme
• Properties of solutions of periodic switched systems
• Delay-dependent robust stability and control synthesis for uncertain switched neutral systems with mixed delays

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