Stabilization of uncertain nonholonomic dynamic systems with bounded inputs

MaRDI QIDQ2725135zbMATH OpenFDO

Authors Chaoli Wang, Wei Huo, Dalong Tan, Yuechao Wang

Publication date 9 April 2002

Published in Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

bounded controlsliding modestabilizationuncertain nonholonomic dynamic systemswheeled mobile robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Review text

The authors study a stabilization problem for uncertain nonholonomic dynamic systems with bounded control variables. Using the peculiar nonlinear structure of these systems, sliding mode is exploited to design the controller composed of four steps. The control law given is such that the states of the system can enter an arbitrarily small \(\varepsilon\)-neighborhood of the origin, or converge to zero. An application to a nonholonomic wheeled mobile robot is described. A simulation result that shows the effectiveness of the proposed controller is given.

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Cited in

(10)

• Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems.
• Logic-based switching control of a nonholonomic system with parametric modeling uncertainty
• Towards structure-independent stabilization for uncertain underactuated Euler-Lagrange systems
• Robust stabilization of uncertain nonholonomic systems
• LYAPUNOV-BASED PARTIAL STABILIZATION OF A NONHOLONOMIC UAV MODEL WITH POLYTOPIC INPUT CONSTRAINTS
• Stabilization of nonholonomic uncertain systems via adaptive second order sliding mode control
• Adaptive stabilization of uncertain dynamic non-holonomic systems
• On stabilization of uncertain dynamic nonholonomic systems
• Practical stabilization of nonlinear/uncertain dynamic systems with bounded controllers
• Input to state stability of min-max MPC controllers for nonlinear systems with bounded uncertainties

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