The VFO state-constrained stabilisation of the nonholonomic manipulator with limited control input

DOI10.1080/00207179.2011.623719zbMath1236.93128OpenAlexW2117092741MaRDI QIDQ3119121

Maciej Marcin Michałek, Krzysztof Kozłowski

Publication date: 7 March 2012

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2011.623719

zbMATH Keywords

state constraintsinput constraintsvector fieldsfeedback stabilisationnonholonomic manipulatorvector-field-orientation (VFO) control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Cites Work

• Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
• Trajectory Tracking Control for Nonholonomic Mobile Manipulators
• Exponential stabilization of nonholonomic chained systems
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Finite-Time Stability of Continuous Autonomous Systems
• Practical stabilization of driftless systems on lie groups: The transverse function approach
• Rigid-Body Attitude Control

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