View(s) :
2 (0 ULiège)
Download(s) :
1 (0 ULiège)
Backstepping-based Control Design for the Stabilization of Nonholonomic Chained Systems : Applications to Mobile Robots
p. 157-168
Abstract
This paper presents a backstepping procedure for the design of discontinuous time invariant state feedback controllers for the stabilization of nonholonomic systems in chained form. To highlight its effectiveness, our procedure is applied to two nonholonomic physical systems, namely, a unicycle and a car-like mobile robots. It is worth noticing that this approach may be considered as new systematic way to design time-invariant discontinuous controllers for nonholonomic systems.
Text
References
Bibliographical reference
Abdelhamid Tayebi and Ahmed Rachid, « Backstepping-based Control Design for the Stabilization of Nonholonomic Chained Systems : Applications to Mobile Robots », CASYS, 2 | 1998, 157-168.
Electronic reference
Abdelhamid Tayebi and Ahmed Rachid, « Backstepping-based Control Design for the Stabilization of Nonholonomic Chained Systems : Applications to Mobile Robots », CASYS [Online], 2 | 1998, Online since 28 June 2024, connection on 27 December 2024. URL : http://popups.uliege.be/3041-539x/index.php?id=433
Authors
Abdelhamid Tayebi
Laboratoire des Systèmes Automatiques, Université de Picardie-Jules Verne, 7, Rue du Moulin Neuf,80000 Amiens, France
Ahmed Rachid
Laboratoire des Systèmes Automatiques, Université de Picardie-Jules Verne, 7, Rue du Moulin Neuf,80000 Amiens, France