Title :
Towards the supervisory control of uncertain nonholonomic systems
Author :
Hespanha, João P. ; Liberzon, Daniel ; Morse, A. Stephen
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem
Keywords :
control system synthesis; feedback; mobile robots; robot kinematics; uncertain systems; hybrid feedback control design; kinematics; nonholonomic integrator; parametric modeling uncertainties; supervisory control; uncertain nonholonomic systems; unicycle robot; unknown parameters; wheeled mobile robot; Adaptive control; Angular velocity; Control systems; Linear feedback control systems; Mobile robots; Robot kinematics; Supervisory control; Uncertainty; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782421
