Stabilization of uncertain nonholonomic dynamic systems with bounded inputs (Q2725135)
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scientific article; zbMATH DE number 1618798
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Stabilization of uncertain nonholonomic dynamic systems with bounded inputs |
scientific article; zbMATH DE number 1618798 |
Statements
9 April 2002
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stabilization
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uncertain nonholonomic dynamic systems
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bounded control
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sliding mode
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wheeled mobile robot
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Stabilization of uncertain nonholonomic dynamic systems with bounded inputs (English)
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The authors study a stabilization problem for uncertain nonholonomic dynamic systems with bounded control variables. Using the peculiar nonlinear structure of these systems, sliding mode is exploited to design the controller composed of four steps. The control law given is such that the states of the system can enter an arbitrarily small \(\varepsilon\)-neighborhood of the origin, or converge to zero. An application to a nonholonomic wheeled mobile robot is described. A simulation result that shows the effectiveness of the proposed controller is given.
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