Title :
Exponential stabilization of a car-like vehicle
Author_Institution :
Dept. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
We propose a method to exponentially stabilize nonholonomic chained systems with two control inputs by means of a discontinuous state feedback control law. The presented approach is used to drive a car-like vehicle from a given initial configuration to the origin of the coordinates system. The enclosed simulations results show the effectiveness of the proposed control law
Keywords :
automobiles; mobile robots; stability; state feedback; car-like vehicle; discontinuous state feedback control law; exponential stabilization; nonholonomic chained systems; Automatic control; Control systems; Eigenvalues and eigenfunctions; Laboratories; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Postal services; State feedback; Vehicles;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525472
