Journal ArticleDOI
Brief Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control
Yu-Ping Tian,Shihua Li +1 more
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TLDR
A general dynamic model is proposed for describing a large class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc, which is transformed into linear time-varying control systems and the asymptotic exponential stability is achieved by using a smooth time- varying feedback control law.About:
This article is published in Automatica.The article was published on 2002-07-01. It has received 252 citations till now. The article focuses on the topics: Nonholonomic system & Exponential stability.read more
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Journal ArticleDOI
Finite-time stability of cascaded time-varying systems
Shihua Li,Yu-Ping Tian +1 more
TL;DR: It is shown that a forward completeness condition is enough to ensure the uniform global finite-time stability of the system and stability results are applied to the tracking control problem of a non-holonomic wheeled mobile robot in kinematic model.
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Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization
TL;DR: The proposed MPC scheme employs a general projection neural network (GPN) to iteratively solve a quadratic programming (QP) problem over a finite receding horizon and is proved to be stable in the sense of Lyapunov.
Journal ArticleDOI
Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach
TL;DR: A smooth time-varying controller is proposed to simultaneously address the stabilization and tracking problems of nonholonomic mobile robots for most admissible reference trajectories without switching.
Journal ArticleDOI
Motion-Estimation-Based Visual Servoing of Nonholonomic Mobile Robots
Xuebo Zhang,Yongchun Fang,Xi Liu +2 more
TL;DR: A 2-1/2-D visual servoing strategy, which is based on a novel motion-estimation technique, is presented for the stabilization of a nonholonomic mobile robot and it is shown that practical exponential stability can be achieved, despite the lack of depth information,Which is inherent for monocular camera systems.
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Slew/Translation Positioning and Swing Suppression for 4-DOF Tower Cranes With Parametric Uncertainties: Design and Hardware Experimentation
TL;DR: This paper proposes an adaptive control scheme for underactuated tower cranes to achieve simultaneous slew/translation positioning and swing suppression, which can reduce unexpected overshoots for the jib/trolley movements.
References
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Asymptotic stability and feedback stabilization
TL;DR: In this paper, the authors considered the problem of determining when there exists a smooth function u(x) such that x = xo is an equilibrium point which is asymptotically stable.
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Control and stabilization of nonholonomic dynamic systems
TL;DR: In this article, a class of inherently nonlinear control problems arising directly from physical assumptions about constraints on the motion of a mechanical system is identified and a general procedure for constructing a piecewise analytic state feedback which achieves the desired result is suggested.
Journal ArticleDOI
Discontinuous control of nonholonomic systems
TL;DR: In this article, the problem of local asymptotic stabilization for a class of discontinuous nonholonomic control systems via discontinuous control is addressed and solved from a new point of view.
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Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
TL;DR: In this article, the authors give a systematic way to design time-variant feedback control laws for a class of controllable nonlinear systems which cannot be stabilized via a time-invariant control law.
Journal ArticleDOI
Exponential stabilization of nonholonomic chained systems
O.J. Sordalen,Olav Egeland +1 more
TL;DR: This paper presents a feedback control scheme for the stabilization of two-input, driftless, chained nonholonomic systems, also called chained form, which are controllable but not asymptotically stabilizable by a smooth static-state feedback control law.