Invariant Manifold Approach for the Stabilization of Nonholonomic Chained Systems: Application to a Mobile Robot |
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Authors: | Tayebi A Tadjine M Rachid A |
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Institution: | (1) Department of Electrical Engineering, Lakehead University, 955 Oliver Road, Thunder Bay, Ontario, P7B 5E1, Canada;(2) Process Control Laboratory, ENP, Alger, Algeria;(3) Laboratoire des Systèmes Automatiques, Université de Picardie Jules Verne, 80000 Amiens, France |
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Abstract: | 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. |
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Keywords: | nonlinear control systems feedback stabilization invariant manifold technique nonholonomic chained systems mobile robots |
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