Feedback stabilization of a nonholonomic system with potential fields: application to a two-wheeled mobile robot among obstacles
DOI10.1007/S11071-015-2082-5zbMATH Open1348.93221OpenAlexW1999425052MaRDI QIDQ328977FDOQ328977
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
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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)
Cites Work
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- The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds
- Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
- Invariant manifold approach for the stabilization of nonholonomic chained systems: Application to a mobile robot
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)
- Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model
- Discontinuous feedback stabilization of nonholonomic wheeled mobile robots
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