DocumentCode
808375
Title
Exponential stabilization of mobile robots with nonholonomic constraints
Author
De Wit, C. Canudas ; Sørdalen, O.J.
Author_Institution
Lab. d´´Autom. de Grenoble, ENSIEG, Saint-Martin-d´´Heres, France
Volume
37
Issue
11
fYear
1992
fDate
11/1/1992 12:00:00 AM
Firstpage
1791
Lastpage
1797
Abstract
An exponentially stable controller for a two-degree-of-freedom robot with nonholonomic constraints is presented. Although this type of system is open-loop controllable, this system has been shown to be nonstabilizable via pure smooth feedback. A particular class of piecewise continuous controllers is shown to exponentially stabilize the mobile robot about the origin. This controller has the characteristic of not requiring infinite switching like other approaches, such as the sliding controller. Simulation results are presented
Keywords
mobile robots; stability; exponential stabilisation; mobile robots; nonholonomic constraints; open-loop controllable system; piecewise continuous controllers; two-degree-of-freedom robot; Algebra; Control systems; Mobile robots; Navigation; Open loop systems; Painting; Robot control; State feedback; State-space methods; Welding;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.173153
Filename
173153
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