Lyapunov vector function method in the motion stabilisation problem for nonholonomic mobile robot

DOI10.1080/00207721.2017.1290296zbMath1371.93134OpenAlexW2588254172MaRDI QIDQ5363139

O. A. Peregudova, A. S. Andreev

Publication date: 5 October 2017

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2017.1290296

zbMATH Keywords

discrete-time systemsmechanical systemssampled-data controlroboticsLyapunov methodsbackstepping control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Discrete-time control/observation systems (93C55) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Sampled-data control/observation systems (93C57) Robot dynamics and control of rigid bodies (70E60)

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