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Time-varying feedback stabilization of nonholonomic car-like mobile robots

Claude Samson 1
1 PRISME - Geometry, Algorithms and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Many nonholonomic mechanical systems, such as car-like mobile robots, are controllable but cannot be stabilized to given positions and orientations by using smooth pure-state feedback control. However, as shown in [18], such systems may still be stabilized by using smooth time-varying feedbacks, i.e. feedbacks which explicitly depend on the time-variable. This possibility is here applied to the stabilization of a class of nonlinear systems whose equations encompass simple car models. A set of stabilizing smooth time-varying feedbacks is derived and simulation results are given.
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https://hal.inria.fr/inria-00075048
Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 5:19:58 PM
Last modification on : Saturday, January 27, 2018 - 1:31:34 AM
Long-term archiving on: : Tuesday, April 12, 2011 - 8:48:24 PM

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  • HAL Id : inria-00075048, version 1

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Claude Samson. Time-varying feedback stabilization of nonholonomic car-like mobile robots. [Research Report] RR-1515, INRIA. 1991, pp.24. ⟨inria-00075048⟩

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