Towards Exponential Stabilization of Nonholonomic Systems via a Hybrid Control Method

Author

Matsune, Isatada ; Zhai, Guisheng ; Kobayashi, Tomoaki ; Imae, Joe

Author_Institution

Dept. of Mech. Eng., Osaka Prefecture Univ.

Volume

1

fYear

0

fDate

0-0 0

Firstpage

2344

Lastpage

2348

Abstract

In this paper, we consider a hybrid control strategy for stabilization of nonholonomic systems. In particular, we deal with a typical nonholonomic system, namely a two-wheeled vehicle. We first rewrite the system in a chained form, and then transform it into a nonholonomic integrator (NHI) system. Finally, we apply and modify the hybrid control method in (J.P. Hespanha and A.S. Morse, 1999) for the NHI system, so that the entire system is exponentially stable. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and give some analysis together with an example for the case where there are constraints on control inputs. We also extend the discussion to the case of four-wheeled vehicles

Keywords

asymptotic stability; chained form; exponential stabilization; hybrid control method; nonholonomic integrator system; system rewriting; two-wheeled vehicle; Analytical models; Control systems; Mechanical engineering; Mechanical systems; Mobile robots; Stability; State feedback; Time varying systems; Vehicles; Nonholonomic system; chained form; exponential stability/stabilization; hybrid control; nonholonomic integrator (NHI); switching strategy; two(four)-wheeled vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1712779

Filename

1712779