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A continuous control for stabilizing the extended nonholonomic double integrator: Theory and simulation results
Peng Y(彭艳); Liu M(刘梅); Xie SR(谢少荣); Luo J(罗均)
Department机器人学研究室
Conference Name2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
Conference DateDecember 11-12, 2010
Conference PlaceChongqing, China
Author of SourceControl Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2010
Pages3987-3991
Indexed ByEI ; CPCI(ISTP)
EI Accession number20110313586569
WOS IDWOS:000302594201374
Contribution Rank1
ISSN1660-9336
ISBN978-3-03785-004-6
KeywordAsymptotic Analysis Manufacture
AbstractThe extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett's condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Besides the theoretical proofs, simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method. © (2011) Trans Tech Publications.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10437
Collection机器人学研究室
Affiliation1.School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China
2.State Key Laboratory of Robotics, China
Recommended Citation
GB/T 7714
Peng Y,Liu M,Xie SR,et al. A continuous control for stabilizing the extended nonholonomic double integrator: Theory and simulation results[C]//Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2010:3987-3991.
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