Practical stabilization for nonholonomic chained systems with fast convergence, pole-placement and robustness

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2002, Pages 3534-3539

  Lee, Ti Chung ^a  

^a MINGHSIN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

Author keywords

Nonholonomic chained systems; Pole placement; Practical stabilization; Robust stability

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; LINEAR SYSTEMS; MATHEMATICAL MODELS; MATRIX ALGEBRA; POLES AND ZEROS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; UNCERTAIN SYSTEMS;

EXPONENTIAL CONVERGENCE; NONHOLONOMIC CHAINED SYSTEMS; POLE PLACEMENT METHOD; STEADY STATE ERROR;

MOBILE ROBOTS;

EID: 0036057005     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. State and output feedback stabilization of multiple chained systems with discontinuous control
2. Robust exponential regulation of nonholonomic systems with uncertainties
3. Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
4. Non-robustness of continuous homogeneous stabilizers for affine control systems
5. Exponential stabilization of driftless control systems using homogeneous feedback
6. Robust stabilization of driftless systems with hybrid open-loop/feedback control
7. Nonholomonic motion planning: Steering using sinusoids
8. Control of chained systems application to path following and time-varying point-stabilization of mobile robots
9. Exponential stabilization of nonholonomic chained systems