Gj. Pappas et Kj. Kyriakopoulos, STABILIZATION OF NONHOLONOMIC VEHICLES UNDER KINEMATIC CONSTRAINTS, International Journal of Control, 61(4), 1995, pp. 933-947
Citations number
17
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Equivalence between different kinematic models of non-holonomic vehicl
es is established. Non-holonomic vehicles are shown to be kinematicall
y equivalent to unicycles. A generalized unicycle model is used for st
abilization purposes. Globally stabilizing control laws under the pres
ence of kinematic control constraints are derived. The control laws ar
e based on the invariant manifold technique, a control strategy where
non-holonomic systems are steered onto manifolds of global and relativ
e local-local controllability. Convergence of the proposed closed-loop
strategies are verified by simulations.