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.

Cited by 181 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Distance- and Velocity-Based Simultaneous Obstacle Avoidance and Target Tracking for Multiple Wheeled Mobile Robots;IEEE Transactions on Intelligent Transportation Systems;2024-02

2. A simplified trajectory tracking control based on linear design for Skid-Steered wheeled UGVs;Journal of the Franklin Institute;2024-02

3. Adaptive Headway Motion Control and Motion Prediction for Safe Unicycle Motion Design;2023 62nd IEEE Conference on Decision and Control (CDC);2023-12-13

4. Event-triggered feedback control of differential driver mobile robot;Third International Conference on Control and Intelligent Robotics (ICCIR 2023);2023-12-01

5. Linear Controller Design using Pole Placement Method for Nonholonomic Mobile Robot Trajectory Tracking;2023 Sixth International Conference on Vocational Education and Electrical Engineering (ICVEE);2023-10-14