A practical approach to feedback control for a mobile robot with trailer

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 1998, Pages 3291-3296

  Lamiraux, F ^a   Laumond, J P ^a  

^a LAAS CNRS   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ITERATIVE METHODS; MOBILE ROBOTS; ROBUST CONTROL; CONTROL SYSTEM ANALYSIS; FEEDBACK CONTROL; MOTION PLANNING; PERTURBATION TECHNIQUES; POSITION CONTROL;

ROBUST METHODS; TRAJECTORY TRACKING;

FEEDBACK; MOBILE ROBOTS;

ROBOT TRAJECTORY TRACKING;

EID: 0031625970     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680946     Document Type: Conference Paper

References (18)

1. M. K. Bennani, P. Rouchon, Robust stabilization of flat and chained systems, in European Control Conference, 1995.
2. R.W. Brockett, Asymptotic stability and feedback stabilization, in Differential Geometric Control Theory, R.W. Brockett, R.S. Millman et H.H. Sussmann Eds, 1983.
3. C. Canudas de Wit, O.J. S0rdalen, Exponential stabilization of mobile robots with non holonomic constraints, IEEE Transactions on Automatic Control, Vol. 37, No. 11, 1992.
4. J. M. Coron, Global asymptotic stabilization for controllable systems without drift, in Mathematics of Control, Signals and Systems, Vol 5, 1992.
5. A. De Luca, G. Oriolo, C. Samson, Feedback control of a nonholonomic car-like robot, "Robot motion planning and control", J.R Laumond Ed., Lecture Notes in Control and Information Sciences, Springer Verlag, to appear.
6. R. M. DeSantis, Path-tracking for a tractor-trailerlike robot, in International Journal of Robotics Research, Vol 13, No 6, 1994.
7. A. Hemami, M. G. Mehrabi, R. M. H. Cheng, Synthesis of an optimal control law path tracking in mobile robots, in Automatica, Vol 28, No 2, pp 383-387, 1992.
8. Y. Kanayama, Y. Kimura, F. Miyazaki, T.Nogushi, A stable tracking control method for an autonomous mobile robot, in IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, 1990.
9. F. Lamiraux, Robots mobiles a remorque : de la plan- ification de chemins a I'execution de mouvements, PhD Thesis N7, LAAS-CNRS, Toulouse, September 1997.
10. P. Morin, C. Samson, Application of backstepping techniques to the time-varying exponential stabilisation of chained form systems, European Journal of Control, Vol 3, No 1, 1997.
11. J. B. Pomet, Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift, in Systems and Control Letters, North Holland, Vol 18, pp 147-158, 1992.
12. M. Sampei, T. Tamura, T. Itoh, M. Nakamichi, Path tracking control of trailer-like mobile robot, in IEEE International Workshop on Intelligent Robots and Systems IROS, Osaka, .Japan, pp 193-198, 1991.
13. C. Samson, Velocity and torque feedback control of a nonholonomic cart, International Workshop in Adap- tative and Nonlineax Control: Issues in Robotics, Grenoble, France, 1990.
14. C. Samson, Time-varying feedback stabilisation of carlike wheeled mobile robots, in International Journal of Robotics Research, 12(1), 1993.
15. C. Samson, Control of chained systems. Application to path following and time-varying point-stabilization, in IEEE Transactions on Automatic Control, Vol 40, No 1, 1995.
16. C. Samson et K. Ait-Abderrahim, Feedback control of a nonholonomic wheeled cart in cartesian space, in IEEE International Conference on Robotics and Automation, Sacramento, California, pp 1136-1141, 1991.
17. S. Sekhavat, F. Lamiraux, J.P. Laumond, G. Bauzil and A. Ferrand, Motion planning and control for Hi- lare pulling a trailer: experimental issues, IEEE Int. Conf. on Rob. and Autom., pp 3306-3311, 1997.
18. O.J. S0rdalen, O. Egeland, Exponential stabilisation of nonholonomic chained systems, in IEEE Transactions on Automatic Control, Vol 40, No 1, 1995.