A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator

Yan Peng; Mei Liu; Qing Jiu Huang; Shao Rong Xie

doi:10.4028/www.scientific.net/KEM.464.217

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 464A Continuous Control for Stabilizing the Extended...

A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator

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.

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Periodical:

Key Engineering Materials (Volume 464)

Pages:

217-220

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.464.217

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Online since:

January 2011

Authors:

Yan Peng, Mei Liu, Qing Jiu Huang, Shao Rong Xie

Keywords:

Asymptotically Stabilize, Extended Nonholonomic Double Integrator (ENDI), Higher Dimensional Space

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References

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