Title :
ISS properties of nonholonomic mobile robots
Author :
Tanner, Herbert G.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
The paper presents the first result on ISS properties of dynamic unicycle models describing nonholonomic mobile robots. It is known that ISS is related to smooth stabilizability, however this relation cannot exclude the possibility of non smoothly stabilizable systems enjoying ISS properties. In fact, it is shown that in a certain topology that seems to suit the nonholonomic nature of the mobile robot, and by applying a particular control law, the closed loop system can be rendered locally ISS. Apart from any possible theoretical ramifications, this result encourages an ISS-based stability analysis of groups of mobile robots.
Keywords :
closed loop systems; mobile robots; singularly perturbed systems; stability; closed loop system; dynamic unicycle models; input-to-state stability properties; mobile robots; stabilizable systems; Adaptive control; Closed loop systems; Control systems; Mechanical engineering; Mobile robots; Robust stability; Stability analysis; Topology; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249746
