Motion control of a nonholonomic system based on the Lyapunov control method

Journal of Guidance, Control, and Dynamics

Volumn 25, Issue 2, 2002, Pages 285-290

  Tsuchiya, Kazuo ^a   Urakubo, Takateru ^a   Tsujita, Katsuyoshi ^a  

^a KYOTO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; FEEDBACK CONTROL; GRADIENT METHODS; LYAPUNOV METHODS; MOBILE ROBOTS; STATE SPACE METHODS; TENSORS; VECTORS;

LYAPUNOV CONTROL; NONHOLONOMIC SYSTEMS;

MOTION CONTROL;

EID: 0036494271     PISSN: 07315090     EISSN: 15333884     Source Type: Journal    
DOI: 10.2514/2.4880     Document Type: Article

References (11)

1. Asymptotic stability and feedback stabilization
2. Control of chained systems application to path following and time-varying point-stabilization of mobile robots
3. Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
4. Exponential stabilization of nonholonomic chained systems
5. Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
6. Quasi-continuous exponential stabilizers for nonholonomic systems
7. Discontinuous control of nonholonomic systems
8. Exponential stabilization of a wheeled mobile robot via discontinuous control
9. Remarks on control Lyapunov functions for discontinuous stabilizing feedback