Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

This paper is concerned with control of nonholonomic systems in the presenc e of parametric modeling uncertainty. The specific problem considered is th at of parking a wheeled mobile robot of unicycle type with unknown paramete rs, whose kinematics can be described by Brockett's nonholonomic integrator after an appropriate state and control coordinate transformation. We emplo y the techniques of supervisory control to design a hybrid feedback control law that solves this problem. (C) 1999 Elsevier Science B.V. All lights re served.