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Finite-Time Supervisory Stabilization for a Class of Nonholonomic Mobile Robots Under Input Disturbances

Matteo Guerra 1 Denis Efimov 1, 2 Gang Zheng 1, 3 Wilfrid Perruquetti 1, 2, 4
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper provides a solution for the stabilization of a nonholonomic wheeled mobile robot which is affected by additive input disturbances. The solution is based on the supervisory control framework, finite-time stability and robust multi-output regulation. A supervisor and two controls are designed with the objective to stabilize the first output (in the input-to-output stability sense) while the second output has to be kept under a threshold. The results is then applied to the case of the unicycle mobile robot which has to reach a position (i.e. stabilization) avoiding eventual obstacle during the task (i.e. keeping the second output under a threshold). The effectiveness of the solution is proved mathematically, supported by simulation results and finally tested on a wheeled mobile robot in a real scenario.
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https://hal.inria.fr/hal-00972605
Contributor : Denis Efimov <>
Submitted on : Thursday, April 3, 2014 - 5:16:53 PM
Last modification on : Tuesday, September 29, 2020 - 12:24:14 PM
Long-term archiving on: : Thursday, July 3, 2014 - 6:40:43 PM

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Matteo Guerra, Denis Efimov, Gang Zheng, Wilfrid Perruquetti. Finite-Time Supervisory Stabilization for a Class of Nonholonomic Mobile Robots Under Input Disturbances. 19th IFAC World Congress, Aug 2014, Cape Town, South Africa. ⟨hal-00972605⟩

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