Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization-Reference-Cited by-同舟云学术

Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization

Published:1995-12 Issue:6 Volume:14 Page:543-559
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

d'Andréa-Novel B.¹,Campion G.²,Bastin G.²

Affiliation:

1. C.A.S. Ecole des Mines de Paris 77305 Fontainebleau Cedex, France

2. CESAME 1348 Louvain-La-Neuve, Belgium

Abstract

We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mech anical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing "static" and "dynamic" state feedback laws. We give conditions to avoid possible singularities of the feedback laws.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/027836499501400602

Reference31 articles.

1. d'Andréa-Novel, B., Bastin, G., and Campion, G. 1993. Control of nonholonomic wheeled mobile robots by state feedback linearization. Internal report CAS 93, Cesame 93-33.

2. Controllability and stabilizability properties of a nonholonomic control system

3. Brockett, R.W. 1983. Asymptotic stability and feedback stabilization . In Brockett, R. N., Millmann, R. S., Sussmann, H. (eds.): Differential Geometric Control Theory. Boston: Birkhauser, pp. 181-191.

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