Invariant Manifold Approach for the Stabilization of Nonholonomic Chained Systems: Application to a Mobile Robot

In this paper it is shown that a class ofn-dimensional nonholonomic chained systems can bestabilized using the invariant manifold approach. First, we derive aninvariant manifold for this class of systems and we show that, once onit, all the closed-loop trajectories tend to the origin under a linearsmooth time-invariant state feedback. Thereafter, it is shown that thismanifold can be made attractive by means of a discontinuoustime-invariant state feedback. Finally, a mobile robot is taken as anexample demonstrating the effectiveness of our study.     

Force/position control of parallel robots using exteroceptive pose measurements

The aim of this paper is to study force and position control of kinematic parallel machines. Relying on a recent work showing that computed torque control in Cartesian space is suitable for parallel structures, we propose a parallel force position control scheme of a parallel robot based on the visual servoing of the end effector pose. Simulation results show the efficiency of the proposed approach.