Synthesis of a stabilizing control for a wheeled robot following a curvilinear path

DOI10.1134/S000511791207003XMaRDI QIDQ384691zbMATH OpenFDO

Authors Alexander Pesterev

Publication date 28 November 2013

Published in Automation and Remote Control (Search for Journal in Brave)

zbMATH Keywords

asymptotic stabilityfeedback linearizationplane motion of a wheeled robotstabilization of robot's motionsynthesis control problem

Mathematics Subject Classification ID

Synthesis problems (93B50) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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Cites work

• scientific article; zbMATH DE number 475213 (Why is no real title available?)
• scientific article; zbMATH DE number 1480260 (Why is no real title available?)
• scientific article; zbMATH DE number 3442447 (Why is no real title available?)
• scientific article; zbMATH DE number 1871421 (Why is no real title available?)
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Estimation of attraction domains in wheeled robot control
• Motion control for a wheeled robot following a curvilinear path
• Nonholonomic motion planning: steering using sinusoids
• Planning Algorithms
• Stabilization problem for a wheeled robot following a curvilinear path on uneven terrain

Cited in

(13)

• Ellipsoidal approximations of the attraction domain in the path following problem for a wheeled robot with constrained resource
• scientific article; zbMATH DE number 6830896 (Why is no real title available?)
• Stable Feedback Control of a Fast Wheeled Robot
• Optimizing Coefficients of a Controller in the Point Stabilization Problem for a Robot-Wheel
• Canonical representation of a nonstationary path following problem
• Stabilization problem for a wheeled robot following a curvilinear path on uneven terrain
• On optimal selection of coefficients of path following controller for a wheeled robot with constrained control
• Motion control for a wheeled robot following a curvilinear path
• Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path
• Synthesis of a stabilizing feedback for a wheeled robot with constrained control resource
• A linearizing feedback for stabilizing a car-like robot following a curvilinear path
• Canonical representation of the path following problem for wheeled robots
• Synthesis of an optimal control law for path tracking in mobile robots

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