Time-varying feedback stabilization of car-like wheeled mobile robots
International Journal of Robotics Research
Stabilization of multiple input chained form control systems
Systems & Control Letters
Discontinuous control of nonholonomic systems
Systems & Control Letters
Nonlinear Control of Wheeled Mobile Robots
Nonlinear Control of Wheeled Mobile Robots
Robust exponential regulation of nonholonomic systems with uncertainties
Automatica (Journal of IFAC)
Stabilization of unknown nonlinear systems using neural networks
Applied Soft Computing
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robust stabilization of nonholonomic moving robots with uncalibrated visual parameters
ACC'09 Proceedings of the 2009 conference on American Control Conference
Adaptive output feedback control of uncertain nonholonomic systems with strong nonlinear drifts
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Brief paper: Robust adaptive motion/force control for wheeled inverted pendulums
Automatica (Journal of IFAC)
Analysis and synthesis of switched linear control systems
Automatica (Journal of IFAC)
Robust Adaptive Finite-Time Stabilization of Nonlinearly Parameterized Nonholonomic Systems
Acta Applicandae Mathematicae: an international survey journal on applying mathematics and mathematical applications
Hi-index | 22.15 |
In this paper, adaptive state feedback and output feedback control strategies are presented for a class of nonholonomic systems in chained form with drift nonlinearity and parametric uncertainties. Both control laws are developed using state scaling and backstepping techniques. In particular, novel adaptive switching is proposed to overcome the uncontrollablity problem associated with x"0(t"0)=0. Observer-based output feedback design is developed when only partial system states are measurable, and a filtered observer rather than the traditional linear observer is used to handle the technical problem due to the presence of unavailable states in the regressor matrix. The proposed control strategies can steer the system globally converge to the origin, while the estimated parameters maintain bounded.