Time invariant global stabilization of a mobile robot
The paper considers the kinematic model of a mobile robot with separately motor driven wheels \[ \begin{cases} \dot x &= v\cos\theta\\ \dot y &= v\sin\theta\\ \dot\theta &=\omega\end{cases} \] on \(\mathbb{R}^2\times S^1\) (the pair \((x,y)\) describes the position in the plane, and \(\theta\) describes the orientation; \(v\) and \(\omega\) are independent inputs). While it is well-known that this system cannot be stabilized by a smooth feedback, the authors state that stabilization at the origin is possible by using different smooth feedbacks defined on overlapping regions. The choice of the feedback law depends on the initial state, and hence it is not memoryless. The authors consider also a dynamic model for the same problem and compare the respective simulations. For the entire collection see [Zbl 0885.00052].
- Robust stabilization of nonholonomic mobile robots with parameter uncertainties
- scientific article; zbMATH DE number 1782857
- Finite-time stabilization of dynamic nonholonomic wheeled mobile robots with parameter uncertainties
- scientific article; zbMATH DE number 6452780
- Global stability of trajectory tracking of robot under PD control
- Global continuous finite-time tracking of robot manipulators
- Finite-time stabilization of stochastic nonholonomic systems and its application to mobile robot
- Finite-time control of omnidirectional mobile robots
- Saturated stabilization and tracking of a nonholonomic mobile robot
- Robust adaptive stabilization of nonholonomic mobile robots with bounded disturbances
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