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Reports (Research Report) Year : 1991

Time-varying feedback stabilization of nonholonomic car-like mobile robots

Claude Samson

Abstract

Many nonholonomic mechanical systems, such as car-like mobile robots, are controllable but cannot be stabilized to given positions and orientations by using smooth pure-state feedback control. However, as shown in [18], such systems may still be stabilized by using smooth time-varying feedbacks, i.e. feedbacks which explicitly depend on the time-variable. This possibility is here applied to the stabilization of a class of nonlinear systems whose equations encompass simple car models. A set of stabilizing smooth time-varying feedbacks is derived and simulation results are given.
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Dates and versions

inria-00075048 , version 1 (24-05-2006)

Identifiers

  • HAL Id : inria-00075048 , version 1

Cite

Claude Samson. Time-varying feedback stabilization of nonholonomic car-like mobile robots. [Research Report] RR-1515, INRIA. 1991, pp.24. ⟨inria-00075048⟩
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