Image-based Visual Servoing with Central Catadioptric Cameras
International Journal of Robotics Research
Control of nonholonomic mobile robots based on the transverse function approach
IEEE Transactions on Robotics
International Journal of Robotics and Automation
Switching-based Lyapunov function and the stabilization of a class of non-holonomic systems
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
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We present a framework for the stabilization of nonholonomic systems that do not possess special properties such as flatness or exact nilpotentizability. Our approach makes use of two tools: an iterative control scheme and a nilpotent approximation of the system dynamics. The latter is used to compute an approximate steering control which, repeatedly applied to the system, guarantees asymptotic stability with exponential convergence to any desired set point, under appropriate conditions. For illustration, we apply the proposed strategy to design a stabilizing controller for the plate-ball manipulation system, a canonical example of nonflat nonholonomic mechanism. The theoretical performance and robustness of the controller are confirmed by simulations, both in the nominal case and in the presence of a perturbation on the ball radius.