Canonical representation of the path following problem for wheeled robots

DOI10.1134/S0005117913050044zbMath1269.93018OpenAlexW2056559889MaRDI QIDQ2393016

L. B. Rapoport, Alexander Pesterev

Publication date: 7 August 2013

Published in: Automation and Remote Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s0005117913050044

zbMATH Keywords

canonical systemcontrol laws\(n\)-dimensional nonholonomic wheeled systemrobot models

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Canonical structure (93B10) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Attraction domain estimate for single-input affine systems with constrained control ⋮ Canonical representation of a nonstationary path following problem ⋮ Synthesis of a stabilizing feedback for a wheeled robot with constrained control resource ⋮ A linearizing feedback for stabilizing a car-like robot following a curvilinear path

Cites Work

• Stabilization problem for a wheeled robot following a curvilinear path on uneven terrain
• Synthesis of a stabilizing control for a wheeled robot following a curvilinear path
• Stabilization of nonstationary affine systems by the virtual output method
• Estimation of attraction domains in wheeled robot control
• Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path
• Nonlinear control systems.
• Nonholonomic motion planning: steering using sinusoids
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Planning Algorithms
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