Observer-controller design for global tracking of nonholonomic systems

2007 ◽  
pp. 207-228 ◽  
Author(s):  
Zhong-Ping Jiang ◽  
Henk Nijmeijer
Keyword(s):  
Controller Design ◽  
Nonholonomic Systems ◽  
Global Tracking

Motion Tracking Control Design for Wheeled Mobile Systems

2008 ◽  
Author(s):  
Elz˙bieta Jarze˛bowska
Keyword(s):  
Tracking Control ◽  
Motion Tracking ◽  
Controller Design ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Nonholonomic Systems ◽  
Point Of View ◽  
Mobile Systems ◽  
Task Constraints ◽  
Nonlinear Control Theory

The paper presents a model-based tracking control strategy design for wheeled mobile systems (WMS). The strategy enables tracking a variety of WMS motions that come from task specifications and control or design requirements put on them. From the point of view of mechanics and derivation of equations of motion, the WMS belongs to one class of first order nonholonomic systems. From the perspective of nonlinear control theory, the WMS differ and may not be approached by the same control strategies and algorithms, e.g. some of them may be controlled at the kinematic level and the other at the dynamic level only. The strategy we propose is based on a modeling control oriented framework. It serves a unification of the WMS modeling and a subsequent controller design with no regard whether a specific WMS is fully actuated, underactuated, or constrained by the task constraints.

scholarly journals Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
System States

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated withx0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers

Robotica ◽  
2015 ◽  
Vol 34 (10) ◽  
pp. 2344-2367 ◽  
Author(s):  
Guangping He ◽  
Chenghao Zhang ◽  
Wei Sun ◽  
Zhiyong Geng
Keyword(s):  
Mechanical System ◽  
Controller Design ◽  
Design Method ◽  
Nonholonomic Systems ◽  
Second Order ◽  
Test Bed ◽  
Underactuated Mechanical Systems ◽  
Hölder Continuous ◽  
Good Test ◽  
Stabilizing Controllers

SUMMARYAn underactuated mechanical system is generally a good test bed for advanced nonlinear controllers and can be applied to design a novel mechanical system with better energy efficiency and good controllability. It has been shown that the dynamics of many underactuated mechanical systems could be transformed into the chained canonical form. To improve the performance of the controllers presented in the literature, a novel controller design method is proposed in this paper. It is shown that the set-point stabilization problem of the second-order chained form systems can be changed into a trajectory-tracking problem based on the nonsmooth Hölder continuous feedback. By designing the tracked trajectory, the presented controller permits the achievement of exponential stability. Some numerical simulations demonstrate the stability of the proposed controller for an underactuated Hovercraft system.

scholarly journals Output Feedback Adaptive Stabilization of Uncertain Nonholonomic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-17
Author(s):  
Yuanyuan Wu ◽  
Zicheng Wang ◽  
Yuqiang Wu ◽  
Qingbo Li
Keyword(s):  
Output Feedback ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Input State ◽  
Adaptive Stabilization ◽  
Closed Loop Systems ◽  
Stabilization Control ◽  
Parameter Separation ◽  
Unknown Time Delays

This paper investigates the problem of output feedback adaptive stabilization control design for a class of nonholonomic chained systems with uncertainties, involving virtual control coefficients, unknown nonlinear parameters, and unknown time delays. The objective is to design a robust nonlinear output-feedback switching controller, which can guarantee the stabilization of the closed loop systems. An observer and an estimator are employed for states and parameters estimates, respectively. A constructive controller design procedure is proposed by applying input-state scaling transformation, parameter separation technique, and backstepping recursive approach. Simulation results are provided to show the effectiveness of the proposed method.

Applications of a Controller Design Method for Nonholonomic Systems to Auto-Steering Vehicles

2008 ◽  
Vol 1 (5) ◽  
pp. 345-351
Author(s):  
Masanori HAMAMATSU ◽  
Tetsuya KUBOTA ◽  
Yukinobu KOHNO ◽  
Shinichi IWATA
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Nonholonomic Systems
Sign in / Sign up

Export Citation Format

Share Document