On exponential stabilization of nonholonomic systems with time-varying drift
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.11.771
Abstract: A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.… read more here.
Keywords: time varying; stabilization nonholonomic; time; varying drift ... See more keywords
Adaptive Tracking and Stabilization of Nonholonomic Mobile Robots With Input Saturation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2021.3129158
Abstract: This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification… read more here.
Keywords: stabilization nonholonomic; adaptive tracking; mobile robots; nonholonomic mobile ... See more keywords