Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach

DOI10.1016/S0005-1098(97)00155-6zbMath0914.93057OpenAlexW1990988364MaRDI QIDQ1129669

Mahmut Reyhanoglu, Gerardo Escobar, Romeo S. Ortega

Publication date: 21 June 1999

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(97)00155-6

zbMATH Keywords

trackingglobal regulationinduction motorsdynamic extensionnonholonomic double integrator

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (13)

Robustification of nonlinear control systems \textit{vis-à-vis} actuator dynamics: an immersion and invariance approach ⋮ Linear controllers for exponential tracking of systems in chained-form ⋮ Robust tracking and regulation control for mobile robots ⋮ Smooth, time‐invariant regulation of nonholonomic systems via energy pumping‐and‐damping ⋮ Improving performance in model predictive control: switching cost functionals under average dwell-time ⋮ Discontinuous control of high-order generalized chained systems ⋮ Logic-based switching control of a nonholonomic system with parametric modeling uncertainty ⋮ Global exponential setpoint control of wheeled mobile robots: A Lyapunov approach ⋮ A contribution to the control of the non-holonomic integrator including drift ⋮ Saturated stabilization and tracking of a nonholonomic mobile robot ⋮ Stabilization and tracking control for an extended Heisenberg system with a drift ⋮ Orbital stabilization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection ⋮ Modelling of the robotic Powerball®: a nonholonomic, underactuated and variable structure-type system

Cites Work

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• Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots

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