Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles

DOI10.1007/S11071-015-2082-5MaRDI QIDQ328977zbMATH OpenOpenAlexFDO

Authors Takateru Urakubo

Publication date 21 October 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-015-2082-5

zbMATH Keywords

feedback controlLyapunov stabilitynonholonomic systempotential field method

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Stabilization of systems by feedback (93D15)

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Cites work

• scientific article; zbMATH DE number 426008 (Why is no real title available?)
• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• scientific article; zbMATH DE number 3388592 (Why is no real title available?)
• A contribution to the stability of nonholonomic systems.
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
• Hybrid potential field based control of differential drive mobile robots
• Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot
• The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds

Cited in

(10)

• Barrier Lyapunov functions-based fixed-time stabilization of nonholonomic systems with unmatched uncertainties and time-varying output constraints
• A general update rule for Lyapunov-based adaptive control of mobile robots with wheel slip
• An asymptotically stable collision-avoidance system
• Saturated finite-time stabilization of uncertain nonholonomic systems in feedforward-like form and its application
• Division by zero, pseudo-division by zero, Zhang dynamics method and Zhang-gradient method about control singularity conquering
• Hybrid potential field based control of differential drive mobile robots
• Necessary conditions for feedback stabilization and safety
• Coordinated tracking for multiple nonholonomic vehicles on SE(2)
• Discontinuous feedback stabilization of nonholonomic wheeled mobile robots
• Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model

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