Showing papers by "Claude Samson published in 1995"
TL;DR: Application to the control of nonholonomic wheeled mobile robots is described by considering the case of a car pulling trailers, and globally stabilizing time-varying feedbacks are derived.
Abstract: Chain form systems have recently been introduced to model the kinematics of a class of nonholonomic mechanical systems. The first part of the study is centered on control design and analysis for nonlinear systems which can be converted to the chain form. Solutions to various control problems (open-loop steering, partial or complete state feedback stabilization) are either recalled, generalized, or developed. In particular, globally stabilizing time-varying feedbacks are derived, and a discussion of their convergence properties is provided. Application to the control of nonholonomic wheeled mobile robots is described in the second part of the study by considering the case of a car pulling trailers. >
1,094 citations
TL;DR: In this article, a locally stabilizing smooth time-varying feedback is derived by using Center Manifold Theory combined with averaging and Lyapunov techniques, which is shown to be locally asymptotically stabilizing when the feedback is also a function of time.
128 citations
13 Dec 1995
TL;DR: In this article, the authors proposed explicit feedback control laws of this type and showed that in the worst case, the stabilization is not exponential and the asymptotic convergence rate to the desired equilibrium is only polynomial.
Abstract: Rigid body models with two controls cannot be locally asymptotically stabilized by continuous feedback which are functions of the state only. However, explicit smooth time-varying feedback which locally asymptotically stabilize the attitude of a rigid spacecraft have previously been proposed by the authors (1995). Due to the smoothness of the control law, the stabilization is not exponential and the asymptotical convergence rate to the desired equilibrium is only polynomial in the worst case. Nevertheless, exponential convergence can be obtained by considering time-varying feedback which are only continuous at the equilibrium. This paper proposes explicit feedback control laws of this type.
63 citations