Robust discontinuous exponential regulation of dynamic nonholonomic wheeled mobile robots with parameter uncertainties

International Journal of Robust and Nonlinear Control

Volumn 18, Issue 9, 2008, Pages 960-974

  Ma, B L ^a   Tso, S K ^b  

^a BEIHANG UNIVERSITY   (China)

^b CITY UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Nonholonomic systems; Parameter uncertainties; Robust stabilization; Wheeled mobile robots

Indexed keywords

ARCHITECTURAL DESIGN; CONTROL THEORY; FEEDBACK CONTROL; LAWS AND LEGISLATION; MECHANICS; MOBILE ROBOTS; NEURAL NETWORKS; ROBOTICS; ROBOTS; ROBUST CONTROL;

(1 1 1) ORIENTATION; CONTROL LAWS; CONTROLLER DESIGNS; DISCONTINUOUS CONTROL; ERROR DYNAMICS; GLOBAL EXPONENTIAL CONVERGENCE; NON-HOLONOMIC; PARAMETER UNCERTAINTIES; ROBUST FEEDBACK CONTROL; SET POINTS; WHEELED MOBILE ROBOT (WMR);

DYNAMICS;

EID: 45749102462     PISSN: 10498923     EISSN: 10991239     Source Type: Journal    
DOI: 10.1002/rnc.1274     Document Type: Article

References (25)

1. Brokett RW. Asymptotic stability and feedback stabilization. In Differential Geometric Control Theory, Brokett RW, Millman RS, Sussman SJ (eds). Birkhäuser: Boston, 1983; 181-191.
2. Kolmanovsky I, McClamroch H. Development in nonholonomic control problems. IEEE Control Systems Magazine 1995; 15:20-36.
3. Pomet J-B. Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift. Systems and Control Letters 1992; 18(2):147-158.
4. Samson C. Control of chained systems: application to path following and time-varying point stabilization of mobile robots. IEEE Transactions on Automatic Control 1995; 40(l):64-77.
5. Jiang ZP. Iterative design of time-varying stabilizers for multi-input systems in chained form. Systems and Control Letters 1996; 28:255-262.
6. Walsh GC, Bushnell LG. Stabilization of multiple input chained form control systems. Systems and Control Letters 1995; 25:227-234.
7. M'Closkey R, Murray R. Exponential stabilization of drift-less nonlinear control systems using homogeneous feedback. IEEE Transactions on Automatic Control 1997; 42:614-628.
8. Sordalen OJ, Egeland O. Exponential stabilization of nonholonomic chained systems. IEEE Transactions on Automatic Control 1995; 40:35-39.
9. Astolfi A. Discontinuous control of nonholonomic systems. Systems and Control Letters 1996; 27:37-45.
10. Laiou MC, Astolfi A. Discontinuous control of high-order generalized chained systems. Systems and Control Letters 1999; 37(5):309-322.
11. Kolmanovsky I, Reyhanoglu M, McClamroch NH. Discontinuous feedback stabilization of nonholonomic systems in extended power form. Proceedings of 33rd IEEE Conference on Decision and Control, Lake Buena Viata, FL, 1994; 1469-3474.
12. Kolmanovsky I, McClamroch NH. Hybrid feedback laws for a class of cascaded nonlinear control systems. IEEE Transactions on Automatic Control 1996; 41:1271-1282.
13. Bloch A, Reyhanoglu M, Clamroch NHMC. Control and stabilization of nonholonomic dynamic systems. IEEE Transactions on Automatic Control 1992; 37(11):1746-1757.
14. Colbaugh R, Barany R, Class K. Adaptive stabilization of nonholonomic mechanical systems. Proceedings of 36th IEEE Conference on Decision and Control, Hartford, CT, 1997; 3081-3088.
15. Fierro R, Lewis FL. Practical point stabilization of a nonholonomic mobile robot using neural networks. Proceedings of 35th IEEE Conference on Decision and Control, Kobe, Japan, 1996; 1722-1727.
16. Dixon WE, Dawson DM, Zergeroglu E, Zhang F. Robust tracking and regulation control for mobile robots. International Journal of Robust and Nonlinear Control 2000; 10:199-216.
17. Dong WJ, Huo W. Adaptive stabilization of uncertain dynamic non-holonomic systems. International Journal of Control 1999; 72(18):1689-1700.
18. Dong WJ, Xu YS, Huo W. On stabilization of uncertain dynamic nonholonomic systems. International Journal of Control 2000; 73(4):349-359.
19. Ge SS, Zhou GY. Adaptive robust stabilization of dynamic nonholonomic chained systems. Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000; 1445-1450.
20. Ge SS, Wang J, Lee TH, Zhou GY. Adaptive robust stabilization of dynamic nonholonomic chained systems. Journal of Robotic Systems 2001; 18(3): 119-133.
21. Aguiar AP, Atassi AN, Pascoal AM. Regulation of a nonholonomic dynamic wheeled mobile robot with parameter modeling uncertainty using Lyapunov functions. Proceedings of 39th IEEE Conference on Decision and Control, Sydney, Australia, December, 2000; 2995-3000.
22. Pourboghrat F, Karlsson MP. Adaptive control of dynamic mobile robots with nonholonomic constraints. Computers and Electrical Engineering 2002; 28:241-253.
23. Jiang Z-P. Robust exponential regulation of nonholonomic systems with uncertainties. Automatica 2000; 36: 168-209.
24. Astolfi A. Exponential stabilization of a wheeled mobile robot via discontinuous control. Journal of Dynamic Systems, Measurements and Control 1999; 121:121-126.
25. Slotine J-JE, Li W. Applied Nonlinear Control. Prentice-Hall: Englewood Cliff, NJ, 1991.