Robust stabilization of nonholonomic chained form systems with uncertainties

被引：57

作者：

Liang Z.-Y. ^{[1
,2
]}

Wang C.-L. ^{[3
]}

机构：

[1] Business School, University of Shanghai for Science and Technology

[2] School of Science, Shandong University of Technology

[3] School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology

来源：

Zidonghua Xuebao/Acta Automatica Sinica | 2011年 / 37卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Kinematic; Mobile robot; Nonholonomic; Uncertain chained system;

D O I：

10.3724/SP.J.1004.2011.00129

中图分类号：

学科分类号：

摘要：

A summary of recent developments concerning robust stabilization problems for the nonholonomic chained form systems with uncertainties is provided. Firstly, various models, main approaches, and results over past ten years for the uncertain chained form systems are presented. Then, several new exciting uncertain chained form models of special interest are proposed for the nonholonomic wheeled mobile robots. They are obtained by using the state and input transformations based on the visual servoing feedback. Finally, the novel robust regulation controllers are addressed for some new uncertain chained models by using two-steps technology, visual feedback, state-scaling and switching strategy. It is expected that this investigation will provide a good introduction about the development of robust stabilization for uncertain chained form systems. Copyright © 2011 Acta Automatica Sinica.

引用

页码：129 / 142

页数：13

共 60 条

[1]

Bloch A.M., Reyhanoglu M., McClamroch N.H., Control and stabilization of nonholonomic dynamic systems, IEEE Transactions on Automatic Control, 37, 11, pp. 1746-1757, (1992)

[2]

Kolmanovsky I., McClamroch N.H., Developments in nonholonomic control problems, IEEE Control Systems Magazine, 15, 6, pp. 20-36, (1995)

[3]

Murray R.M., Sastry S.S., Nonholonomic motion planning: steering using sinusoids, IEEE Transactions on Automatic Control, 38, 5, pp. 700-716, (1993)

[4]

Huo W., Ge S.S., Exponential stabilization of nonholonomic systems: an ENI approach, International Journal of Control, 74, 15, pp. 1492-1500, (2001)

[5]

Tian Y.P., Li S.H., Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control, Automatica, 38, 7, pp. 1139-1146, (2002)

[6]

Wang J., Qu Z.H., Hull R.A., Martin J., Cascaded feedback linearization and its application to stabilization of nonholonomic systems, Systems and Control Letters, 56, 4, pp. 285-295, (2007)

[7]

Ren Y.-Q., Ma B.-L., Global stabilization of a class of nonholonomic systems, Acta Automatica Sinica, 33, 9, pp. 979-984, (2007)

[8]

Sordalen O.J., Egeland O., Exponential stabilization of nonholonomic chained systems, IEEE Transactions on Automatic Control, 40, 1, pp. 35-49, (1995)

[9]

Walsh G.C., Bushnell L.G., Stabilization of multiple input chained form control systems, Systems and Control Letters, 25, 3, pp. 227-234, (1995)

[10]

Astolfi A., Schaufelberger W., State and output feedback stabilization of multiple chained systems with discontinuous control, Systems and Control Letters, 32, 1, pp. 49-56, (1997)

← 1 2 3 4 5 6 →