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

nonholonomic systemwheeled mobile robothybrid feedback controlunicyclemodeling uncertaintyestimator-based supervisor

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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Cites work

• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• scientific article; zbMATH DE number 1303065 (Why is no real title available?)
• scientific article; zbMATH DE number 3199918 (Why is no real title available?)
• Adaptive stabilization of mobile manipulators
• Applications of hysteresis switching in parameter adaptive control
• Certainty equivalence implies detectability
• Comments on integral variants of ISS
• GLOBAL STABILIZATION OF PARAMETRIC CHAINED-FORM SYSTEMS BY TIME-VARYING DYNAMIC FEEDBACK
• Integral estimation and adaptive stabilization of non-holonomic controlled systems
• Nonholonomic motion planning: steering using sinusoids
• Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach
• Stabilization of nonholonomic integrators via logic-based switching
• Supervisory control of families of linear set-point controllers - Part I. Exact matching

Cited in

(17)

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

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