Abstract
It is well known that although nonholonomic systems are open-loop controllable, they can not be stabilized by using static state feedback. In this paper, we suggest the use of dynamic feedback strategy stemmed from missile guidance law to stabilized a nonholonomic system - mobile robot. A particular smooth controller is shown to asymptotically stabilize the mobile cart about arbitrary target position. Unlike the existing approaches, such as sliding mode controller and Lyapunov function-based controller does not require any switching operation. The asymptotic stability is proved analytically, and the simplicity and effectiveness of the proposed scheme are verified by numerical simulations.
| Original language | English |
|---|---|
| Pages (from-to) | 3657-3663 |
| Number of pages | 7 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| Publication status | Published - 1997 |
| Event | Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA Duration: 1997 Dec 10 → 1997 Dec 12 |
All Science Journal Classification (ASJC) codes
- Control and Optimization
- Control and Systems Engineering
- Modelling and Simulation