Stabilization Control for Nonholonomic Vehicles with Second Order Dynamics

被引:0
|
作者
He, Xiaodong [1 ]
Geng, Zhiyong [1 ]
机构
[1] Peking Univ, Coll Engn, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
关键词
EXPONENTIAL STABILIZATION; SWITCHED CONTROL; MOBILE ROBOTS; TRACKING;
D O I
暂无
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 paper investigated the stabilization control problem for the nonholonomic vehicle with second order dynamics, which evolves in Lie group SE(2). At first, we designed the control law for the vehicle by dint of the exponential coordinates in Lie algebra, and then proved the stability of the closed loop system by choosing an appropriate Lyapunov function. The greatest novelty of the proposed control law was the global convergence property. In other words, the vehicle was able to be stabilized to the identity configuration from any position with arbitrary orientation. Furthermore, the initial attitude angle specified as pi or -pi would correspond to different trajectories, which provided choices in case of limitations imposed by surroundings. In order to demonstrate the effectiveness of the control law, numerical simulations were presented at the end. To the best of our knowledge, it is the first time that a global stabilization control algorithm for nonholonomic vehicles is proposed directly based on second order dynamics without using the backstepping technique.
引用
收藏
页码:1007 / 1012
页数:6
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