A unique robust controller for tracking and stabilisation of non-holonomic vehicles

被引:7
|
作者
Maghenem, Mohamed [1 ]
Loria, Antonio [2 ]
Panteley, Elena [2 ,3 ]
机构
[1] Univ Calif Santa Cruz, Elect & Comp Engn, Santa Cruz, CA 95064 USA
[2] CNRS, L2s Cent Supelec, Gif Sur Yvette, France
[3] ITMO Univ, St Petersburg, Russia
关键词
Persistency of excitation; autonomous vehicles; Lyapunov's method; input-to-state stability;
D O I
10.1080/00207179.2018.1554270
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
It is known that for non-holonomic systems it is impossible to design a universal controller able to asymptotically stabilise any feasible reference trajectory. We present a smooth time-varying controller able to stabilise a wide class of reference trajectories that include converging (parking problem) and persistently exciting (tracking problem) ones, as well as set-points. For the first time in the literature we establish uniform global asymptotic stability for the origin of the closed-loop system in the kinematics state space. We also show that the kinematics controller renders the system robust to perturbations in the sense of integral-input-to-state stability. Then, we show that for the case in which the velocity dynamics equations are also considered (full model), any velocity-tracking controller with the property that the error velocities are square integrable may be used to ensure global tracking or stabilisation even under parametric uncertainty.
引用
收藏
页码:2302 / 2313
页数:12
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