A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator:Theory and Simulation Results

摘要：

　　The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brocketts condition.In this paper,a new continuous control scheme is proposed to stabilize the ENDI system without drift.The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization.Besides the theoretical proofs,simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method.

关键词： extended nonholonomic double integrator (ENDI) higher dimensional space asymptotically stabilize

作者: Yan Peng Mei Liu Shaorong Xie Jun Luo

作者单位: School of Mechatronics Engineering and Automation Shanghai University, Shanghai 200072, China ;State School of Mechatronics Engineering and Automation Shanghai University, Shanghai 200072, China

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 3987-3991

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）