TIME-VARYING FEEDBACK STABILIZATION OF CAR-LIKE WHEELED MOBILE ROBOTS

被引：188
|
作者：
SAMSON, C
机构：
[1] INRIA, Centre de Sophia-Antipolis
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1993年 / 12卷 / 01期
关键词：
D O I：
10.1177/027836499301200104
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Many nonholonomic mechanical systems, such as common wheeled mobile robots, are controllable but cannot be stabilized to given positions and orientations by using smooth pure-state feedback control. However, as shown in Samson (1990), such systems may still be stabilized by using smooth time-varying feedbacks,-i.e., feedbacks that explicitly depend on the time variable. This possibility is here applied to the stabilization of a class of nonlinear systems whose equations encompass simple car models. A set of stabilizing smooth time-varying feedbacks is derived, and simulation results are given.
引用
收藏
页码：55 / 64
页数：10
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