Bounded smooth time invariant motion control of unicycle kinematic models

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 3676-3681

  Youngshik, Kim ^a   Minor, Mark A ^a  

^a University of Utah   (United States)

Author keywords

Lyapunov; Motion control; Polar coordinates; Unicycle type mobile robot

Indexed keywords

ALGORITHMS; CONSTRAINT THEORY; KINEMATICS; LYAPUNOV METHODS; MATHEMATICAL MODELS; NONLINEAR SYSTEMS;

KINEMATIC MODELS; NONLINEAR LYAPUNOV TECHNIQUES; POLAR COORDINATES; UNICYCLE TYPE MOBILE ROBOTS;

MOTION CONTROL;

EID: 33846146349     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570680     Document Type: Conference Paper

References (17)

1. B. W. Albiston and M. A. Minor, "Curvature based point stabilization for compliant framed wheeled modular mobile robots," in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, pp. 83-89, 2003.
2. C. Samson, "Control of chained systems application to path following and time-varying point-stabilization of mobile robots," IEEE Transactions on Automatic Control, vol. 40, pp. 64-77, 1995.
3. J. M. Coron and B. d'Andrea-Novel, "Smooth stabilizing time-varying control laws for a class of nonlinear systems. Application to mobile robots," in Nonlinear Control Systems Design 1992. Selected Papers from the 2nd IFAC Symposium, pp. 413-18, 1993.
4. A. Tayebi, M. Tadjine, and A. Rachid, "Path-following and point-stabilization control laws for a wheeled mobile robot," in Proceedings of the 1996 UKACC International Conference on Control. Part 2 (of 2), Sep 2-5 1996, pp. 878-883, 1996.
5. T.-C. Lee, K.-T. Song, C.-H. Lee, and C.-C. Teng, "Tracking control of unicycle-modeled mobile robots using a saturation feedback controller," Control Systems Technology, IEEE Transactions on, vol. 9, pp. 305-318, 2001.
6. Z.-P. Jiang, E. Lefeber, and H. Nijmeijer, "Saturated stabilization and tracking of a nonholonomic mobile robot," Systems & Control Letters, vol. 42, pp. 327-32, 2001.
7. R. W. Brockett, "Asymptotic stability and feedback stabilization," in R. W. Brockett, R. S. Millman, and H. J. Sussmann, editors, Differential Geometric Control Theory, volume 27 of Progress in Mathematics, pp. 181-191, 1983.
8. A. Astolfi, "On the stabilization of nonholonomic systems," in Proceedings of 1994 33rd IEEE Conference on Decision and Control, pp. 3481-6 vol.4, 1994.
9. A. Astolfi, "Exponential stabilization of a wheeled mobile robot via discontinuous control," Transactions of the ASME. Journal of Dynamic Systems, Measurement and Control, vol. 121, pp. 121-7, 1999.
10. G. Indiveri, "Kinematic time-invariant control of a 2D nonholonomic vehicle," in Proceedings of 1999 Conference on Decision and Control, pp. 2112-17 vol.3, 1999.
11. C. Webers and U. R. Zimmer, "Practical trade-offs in robust target following," in Proceeding of the International Congress on Intelligent Systems and Applications (ISA 2000), International Symposium on Industrial Systems (IS 2000), pp., 2000.
12. A. Tayebi and A. Rachid, "A unified discontinuous state feedback controller for the path-following and the point-stabilization problems of a unicycle-like mobile robot," in Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on, pp. 31-35, 1997.
13. M. Aicardi, G. Casalino, A. Bicchi, and A. Balestrino, "Closed loop steering of unicycle like vehicles via Lyapunov techniques," IEEE Robotics & Automation Magazine, vol. 2, pp. 27-35, 1995.
14. M. A. Minor, Albiston, B.W., Swensen, C.L., "Simplified Motion Control of a Two Axle Compliant Framed Wheeled Mobile Robot," Accepted and under revision to the IEEE Transactions on Robotics, 2003.
15. S. Park and M. A. Minor, "Modeling and dynamic control of compliant framed wheeled modular mobile robots," in Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, pp. 3937-3943, 2004.
16. H. K. Khalil, Nonlinear systems, 3rd ed. Upper Saddle River, NJ: Prentice Hall, 2002.
17. A. Bacciotti, Local stabilizability of nonlinear control systems, vol. 8: World Scientific, 1991.