Title :
Feedback stabilization of a nonholonomic wheeled mobile robot
Author :
Samson, C. ; Ait-Abderrahim, K.
Author_Institution :
INRIA, Centre de Sophia-Antipolis, Valbonne, France
Abstract :
When a nonlinear system is not stabilizable by a smooth state feedback, it is common to think of the discontinuous feedback as being the alternative. However, another possibility is to consider a smooth time-varying feedback in which the independent time index plays the role of an extra variable. This possibility is illustrated in the case of two degrees-of-freedom nonholonomic wheeled mobile robot for which the globally stabilizing smooth feedback is derived
Keywords :
feedback; mobile robots; nonlinear control systems; stability; time-varying systems; feedback stabilisation; globally stabilizing smooth feedback; nonholonomic wheeled mobile robot; nonlinear system; smooth time-varying feedback; stability; Automatic control; Feedback control; Manipulators; Mobile robots; Nonlinear systems; Orbital robotics; Robotics and automation; Stability analysis; State feedback; Wheels;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174670
