Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach

DOI10.1002/RNC.4590050403MaRDI QIDQ4847418zbMATH OpenOpenAlexFDO

Authors Georges Bastin, B. d'Andréa-Novel, Guy Campion

Publication date 14 May 1996

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.4590050403

zbMATH Keywords

constrained mechanical systemsmobile robotsnonholonomic systemsrobustnesssingular perturbationstatic feedback linearizationviolated velocity constraints

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Sensitivity (robustness) (93B35) Time-scale analysis and singular perturbations in control/observation systems (93C70) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(16)

• Tracking control of mobile robots: A case study in backstepping
• Robust stabilization via iterative state steering with an application to chained-form systems
• A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
• Modelling and control of wheeled mobile robots not satisfying ideal velocity constraints: The unicycle case
• Robust exponential regulation of nonholonomic systems with uncertainties
• Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target
• On optimal selection of coefficients of path following controller for a wheeled robot with constrained control
• Complete inequivalence of nonholonomic and vakonomic mechanics
• Control of unicycle-type robots in the presence of sliding effects with only absolute longitudinal and yaw velocities measurements
• Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model
• Maneuverability and path following control of wheeled mobile robot in the presence of wheel skidding and slipping
• Motion Control of an Omnidirectional Mobile Robot
• A Numerical Approximation‐Based Controller for Mobile Robots with Velocity Limitation
• Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators
• Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances
• Reinforcement learning-based composite suboptimal control for Markov jump singularly perturbed systems with unknown dynamics

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