DocumentCode :
2419821
Title :
Global output feedback stabilization of uncertain nonholonomic systems with applications to mobile robots
Author :
Bhupathiraju, Subhadra ; Qian, Chunjiang ; Rogers, A.C.
Author_Institution :
Dept. of Electr. Eng., Texas Univ., San Antonio, TX, USA
fYear :
2003
fDate :
8-8 Oct. 2003
Firstpage :
490
Lastpage :
495
Abstract :
This paper considers the problem of global stabilization by output feedback for a class of uncertain nonholonomic systems. By combining the output feedback domination design and nonsmooth change of coordinates together, we explicitly construct a simple output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The effectiveness of the proposed approach is illustrated by solving the output feedback stabilization for wheeled mobile robots.
Keywords :
feedback; mobile robots; stability; uncertain systems; global stabilization; output feedback controller; output feedback domination design; output feedback stabilization; uncertain nonholonomic systems; wheeled mobile robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control. 2003 IEEE International Symposium on
Conference_Location :
Houston, TX, USA
ISSN :
2158-9860
Print_ISBN :
0-7803-7891-1
Type :
conf
DOI :
10.1109/ISIC.2003.1254684
Filename :
1254684
Link To Document :
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