Paper Title:
A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator: Theory and Simulation Results
  Abstract

The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett’s condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Besides the theoretical proofs, simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method.

  Info
Periodical
Edited by
Ran Chen
Pages
3987-3991
DOI
10.4028/www.scientific.net/AMM.44-47.3987
Citation
Y. Peng, M. Liu, S. R. Xie, J. Luo, "A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator: Theory and Simulation Results", Applied Mechanics and Materials, Vols. 44-47, pp. 3987-3991, 2011
Online since
December 2010
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