Near-identity diffeomorphisms and exponential ε-tracking and ε-stabilization of first-order nonholonomic SE(2) vehicles

Proceedings of the American Control Conference

Volumn 6, Issue , 2002, Pages 4690-4695

  Olfati Saber, Reza ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

stabilization; tracking; Autonomous vehicles; Dynamic partial feedback linearization; Dynamic state feedback; Mobile robots; Nonholonomic systems; Nonlinear control

Indexed keywords

AUTONOMOUS VEHICLES; DYNAMIC PARTIAL FEEDBACK LINEARIZATION; DYNAMIC STATE FEEDBACK; NEAR-IDENTITY DIFFEOMORPHISMS; NONHOLONOMIC SYSTEMS;

ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; DYNAMICS; LINEARIZATION; MOBILE ROBOTS; STATE FEEDBACK; SYSTEM STABILITY; TRACKING (POSITION); VELOCITY CONTROL;

NONLINEAR CONTROL SYSTEMS;

EID: 0036059823     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2002.1025398     Document Type: Conference Paper

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