EXPONENTIAL STABILIZATION OF MOBILE ROBOTS WITH NONHOLONOMIC CONSTRAINTS

被引：0
|
作者：
DEWIT, CC
SORDALEN, OJ
机构：
[1] Laboratoire d'Automatique de Grenoble, Saint-Martin-d'Héres
[2] Norwegian Institute of Technology, Trondheim
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1992年 / 37卷 / 11期
关键词：
D O I：
10.1109/9.173153
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This note presents an exponentially stable controller for a two-degree-of-freedom robot with nonholonomic constraints. Although this type of system is open-loop controllable, this system has been shown to be nonstabilizable via pure smooth feedback. In this note, 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 also presented.
引用
收藏
页码：1791 / 1797
页数：7
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