Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 1998, Pages 3573-3580

  Yamaguchi, H ^a   Burdick, J W ^a  

^a California Institute of Technology ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; CONTROL THEORY; FEEDBACK CONTROL; STATE FEEDBACK; COMPUTER SIMULATION; CONSTRAINT THEORY; MOTION CONTROL; POSITION CONTROL; SYSTEM STABILITY; TIME VARYING CONTROL SYSTEMS; VECTORS;

ASYMPTOTIC STABILIZATION; MATHEMATICAL FRAMEWORKS; NON HOLONOMIC CONSTRAINT; NON-HOLONOMIC MOBILE ROBOTS; NONHOLONOMIC VEHICLES; NONHOLONOMIC WHEELED MOBILE ROBOTS; STATIC STATE FEEDBACK; TIME-VARYING FEEDBACK;

MOBILE ROBOTS;

ASYMPTOTIC STABILIZATION; NONHOLONOMIC ROBOTS;

EID: 0031620583     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.681022     Document Type: Conference Paper

References (12)

1. R. W. Brockett, "Asymptotic stability and feedback stabilization, " R. W. Brockett, R. S. Millman and H. J. Suss-man, Eds., Differential Geometric Control Theory, Boston: Birkhauser, pp. 181-208, 1983.
2. C. Samson, "Velocity and torque feedback control of a non-holonomic cart, " in Proc. Int. Workshop in Adaptive and Nonlinear Control: Issues in Robotics, Grenoble, France, 1990.
3. J. M. Coron, "Global asymptotic stabilization for controllable systems without drift, " Mathematics of Control, Signals and Systems, vol.5, no.3, pp. 295-312, 1992.
4. J. B. Pomet, "Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift, " Syst. Contr. Lett., vol.18, no.2, pp. 147-58, Feb. 1992.
5. A. R. Teel, R. M. Murray and G. Walsh, "Non-holonomic control systems: From steering to stabilization with sinusoids, " Int. J. Contr., vol. 62, no. 4, pp. 849-870, 1995.
6. C. Samson, "Control of chained systems: Application to path following and time-varying point-stabilization of mobile robots, " IEEE Trans. Automat. Contr., vol. 40, no. 1, pp. 64-77, 1995.
7. A. M. Bloch, M. Reyhanoglu and N. M. McClamroch, "Control and stabilization of nonholonomic dynamic systems, " IEEE Trans. Automat. Contr., vol. 37, no. 11, pp. 1746-1757, 1992.
8. C. Canudas de Wit and O. J. Surdalen, "Exponential stabilization of mobile robots with nonholonomic constraints, " IEEE Trans. Automat. Contr., vol. 37, no. 11, pp. 1791-1797, 1992.
9. O. J. Surdalen and O. Egeland, "Exponential stabilization of nonholonomic chained systems, " IEEE Trans. Automat. Contr., vol. 40, no. 1, pp. 35-49, January 1995.
10. J. A. Sanders and F. Verhulst, "Averaging methods in nonlinear dynamical systems, " New York: Springer-Verlag, 1985.
11. K. Yosida, "Functional analysis, " Berlin Heidelberg: Springer-Verlag, 6th Ed., 1980.
12. S. Kodama and N. Suda, "Matrix theory for system control, " the Society of Instrument and Control Engineers (SICE in Japanese), 1978.