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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)
作者部门机器人学研究室
会议名称2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期December 11-12, 2010
会议地点Chongqing, China
会议主办者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
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2010
页码3987-3991
收录类别EI ; CPCI(ISTP)
EI收录号20110313586569
WOS记录号WOS:000302594201374
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-004-6
关键词Asymptotic Analysis Manufacture
摘要The 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10437
专题机器人学研究室
作者单位1.School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China
2.State Key Laboratory of Robotics, China
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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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