Title :
Quasi-continuous output feedback control for nonholonomic systems in chained form
Author :
Tayebi, A. ; Tadjine, M. ; Rachid, A.
Author_Institution :
Lab. des Syst. Automatiques, Univ. de Picardie-Jules Verne, Amiens, France
Abstract :
In this paper, the problem of stabilizing the class of nonholonomic systems in chained form is solved by means of a quasi-continuous output feedback and invariant manifold technique. To this end, we assume that only the first and the last state variables are measurable. The proposed controller yields exponential stability in a large domain, while avoiding a discontinuity surface at the initial time. To highlight its effectiveness, the developed approach is applied to a nonholonomic wheeled mobile robot.
Keywords :
asymptotic stability; continuous systems; feedback; mobile robots; exponential stability; invariant manifold technique; nonholonomic system; nonholonomic wheeled mobile robot; quasicontinuous output feedback control; state variable; system stabilization; Closed loop systems; Convergence; Manifolds; Mobile robots; Output feedback; State feedback; Trajectory; Chained form; Invariant manifold; Mobile Robots; Nonholonomic systems; Output feedback;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6