Adaptive exponential stabilization of mobile robots with unknown constant-input disturbance

DOI10.1002/ROB.1023zbMath0995.70005OpenAlexW2125174454MaRDI QIDQ2730996

Huitang Chen, Peng-Yung Woo, Yuejuan Wang, Wei-guo Wu

Publication date: 29 July 2001

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1023

zbMATH Keywords

homogeneous systemsmobile robotsLyapunov approachadaptive exponential stabilizationtime-varying adaptive controllersunknown constant-input disturbance

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Related Items (7)

Consensus of linear multi-agent systems with persistent disturbances via distributed output feedback ⋮ A new robust output feedback control for a class of uncertain nonlinear systems ⋮ Robust neural network–based tracking control and stabilization of a wheeled mobile robot with input saturation ⋮ A compact design scheme of adaptive output-feedback control for uncertain nonlinear systems ⋮ Output feedback control of feedforward nonlinear systems with unknown output function and input matching uncertainty ⋮ Disturbance attenuation via output feedback for nonlinear systems with input matching uncertainty ⋮ Global output feedback control of nonlinear time-delay systems with input matching uncertainty and unknown output function

Cites Work

• Discontinuous control of nonholonomic systems
• Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
• Global asymptotic stabilization for controllable systems without drift
• Control and stabilization of nonholonomic dynamic systems
• Exponential stabilization of mobile robots with nonholonomic constraints
• A Lyapunov approach to exponential stabilization of nonholonomic systems in power form
• Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Non-holonomic control systems: from steering to stabilization with sinusoids

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