Showing papers by "Claude Samson published in 1993"
01 Jan 1993
TL;DR: In this paper, two general controllers for unicycle-type and two-steering-wheels mobile robots are proposed and conditions for asymptotical convergence to a predefined path are established and simulation results are presented.
Abstract: Through two different approaches, this report proposes two general controllers for unicycle-type and two-steering-wheels mobile robots. For both systems, conditions for asymptotical convergence to a predefined path are established and simulation results are presented. Rather than writing the systems' equations with respect to a fixed reference frame, the robot state is here parametrized relative to the followed path, in terms of distance and orientation.
353 citations
TL;DR: A set of stabilizing smooth time-varying feedbacks is derived, and simulation results are given.
Abstract: Many nonholonomic mechanical systems, such as common wheeled mobile robots, are controllable but cannot be stabilized to given positions and orientations bv using smooth pure-state feedback control...
297 citations
01 Jan 1993
TL;DR: In this paper, the authors extend a control design method previously proposed by Samson to the design of such homogeneous feedbacks, which has the advantage of yielding simple and direct stability proofs.
Abstract: Systems in canonical power form have recently been used to model the kinematic equations of nonholonomic mechanical systems. McCloskey and Murray have had the idea of using the properties of homogeneous systems to derive exponentially stabilizing continuous time-periodic feedbacks for this class of systems. Motivated by this work, the present study extends a control design method previously proposed by Samson to the design of such homogeneous feedbacks. The approach here followed has the advantage of yielding simple and direct stability proofs. Homogeneity-related results needed for time-varying exponential stabilization are also provided.
42 citations