Global path following for the unicycle and other results

Proceedings of the American Control Conference

Volumn , Issue , 2008, Pages 3500-3505

  El Hawwary, Mohamed I ^a   Maggiore, Manfredi ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

TIME VARYING SYSTEMS;

CENTRE-OF-MASS; CONSTANT VELOCITIES; CONTROL APPROACHES; CONTROL DESIGNS; PATH-FOLLOWING; STABILIZATION PROBLEMS; STATIC FEEDBACK; TIME INVARIANTS; TIME-VARYING FEEDBACK;

ASYMPTOTIC ANALYSIS;

EID: 52449115397     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2008.4587035     Document Type: Conference Paper

References (21)

1. R. W. Brockett, "Asymptotic stability and feedback stabilization," in Differential Geometric Control Theory, R. W. Brockett, R. S. Millman, and H. J. Sussmann, Eds. Boston, MA: Birkhäuser, 1983, pp. 181-191.
2. H. Khennouf and C. Canudas de Wit, "On the construction of stabilizing discontinuous controllers for nonholonomic systems," in Proc. IFAC Nonlinear Control Systems Design Symposium, Tahoe City, USA, 1995, pp. 747-752.
3. rd IEEE Conf. on Decision and Control, 1994, pp. 3481-3486.
4. 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.
5. rd IEEE Conf. on Decision and Control, 1994, pp. 2961-2963.
6. C. Samson, "Time-varying feedback stabilization of car-like wheeled mobile robots," International Journal of Robotics Research, vol. 12, pp. 55-64, 1993.
7. J.-B. Pomet, "Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift," Systems and Control Letters, vol. 18, pp. 147-158, 1992.
8. R. T. M'Closkey and R. M. Murray, "Exponential stabilization of driftless nonlinear control systems using homogeneous feedback," IEEE Transactions on Automatic Control, vol. 42, pp. 614-628, 1997.
9. A. Bloch, M. Reyhanoglu, and N. H. McClamroch, "Control and stabilization of nonholonomic dynamic systems," IEEE Transactions on Automatic Control, vol. 37, pp. 1746-1757, 1992.
10. A. De Luca, G. Oriolo, and C. Samson, "Feedback control of a nonholonomic car-like robot," in Robot Motion Planning and Control, J.-P. Laumond, Ed. London: Springer-Verlag, 1998, pp. 173-253.
11. th International Workshop on Robot Motion and Control, Puszczykowo, 2004, pp. 139-153.
12. nd IEEE Conf. on Decision and Control, Maui, Hawaii, 2003, pp. 1765-1770.
13. C. Nielsen and M. Maggiore, "Output stabilization and maneuver regulation: A geometric approach," Systems and Control Letters, vol. 55, pp. 418-427, 2006.
14. S. LeBel and L. Rodrigues, "Path following of a wheeled mobile robot combining piecewise-affine synthesis and backstepping approaches," in Proc. 2007 American Control Conference, New York City, USA, 2007, pp. 4518-4523.
15. R. Ghabcheloo, A. Pascoal, C. Silvestre, and I. Kaminer, "Coordinated path following control of multiple wheeled robots using linearization techniques," International Journal of Systems Science, vol. 37, pp. 399-414, 2005.
16. E. W. Justh and P. S. Krishnaprasad, "Equilibria and steering laws for planar formations," Systems & Control Letters, vol. 52, pp. 25-38, 2004.
17. th IEEE Conf. on Decision and Control, and the European Control Conference 2005, Seville, Spain, 2005, pp. 740-745.
18. th IEEE Conference on Decision and Control, New Orleans, USA, 2007.
19. A. Shiriaev, "The notion of V -detectability and stabilization of invariant sets of nonlinear systems," Systems and Control Letters, vol. 39, pp. 327-338, 2000.
20. N. P. Bathia and G. P. Szegö, Dynamical Systems: Stability Theory and Applications. Berlin: Springer-Verlag, 1967.
21. C. Byrnes, A. Isidori, and J. C. Willems, "Passivity, feedback equivalence, and the global stabilization of nonlinear systems," IEEE Transactions on Automatic Control, vol. 36, pp. 1228-1240, 1991.