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

Abstract:

Article Preview

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 et al., "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

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.