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

DOI10.1002/rnc.4590050403zbMath0837.93046OpenAlexW1989950430MaRDI QIDQ4847418

Georges Bastin, Brigitte 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

robustnesssingular perturbationnonholonomic systemsmobile robotsconstrained mechanical systemsstatic feedback linearizationviolated velocity constraints

Mathematics Subject Classification ID

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

Related Items (12)

Maneuverability and path following control of wheeled mobile robot in the presence of wheel skidding and slipping ⋮ Tracking control of mobile robots: A case study in backstepping ⋮ Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances ⋮ Robust exponential regulation of nonholonomic systems with uncertainties ⋮ Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model ⋮ Motion Control of an Omnidirectional Mobile Robot ⋮ Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators ⋮ Control of unicycle-type robots in the presence of sliding effects with only absolute longitudinal and yaw velocities measurements ⋮ 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 stabilization via iterative state steering with an application to chained-form systems ⋮ Complete inequivalence of nonholonomic and vakonomic mechanics

Cites Work

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