Vehicle Stabilization in Uncertain Terrain
نویسندگان
چکیده
Conventional nonholonomic motion planning and control theories do not incorporate the effects of uncertain terrain. This paper discusses some basic issues of motion planning and control for kinematic vehicles on uncertain terrain. We extend proofs of local stabilizability for time varying feedback laws to vehicles on uncertain terrain by showing that terrain can be modeled as parametric uncertainty. These proofs are constructive in that we take a well-understood timevarying feedback algorithm developed for the flat terrain case and show that locally it still stabilizes a system with parametric uncertainty entering linearly in the controls. We end with simulation results for a simplified model of the kinematic car.
منابع مشابه
Robust stabilization of a class of three-dimensional uncertain fractional-order non-autonomous systems
This paper concerns the problem of robust stabilization of uncertain fractional-order non-autonomous systems. In this regard, a single input active control approach is proposed for control and stabilization of three-dimensional uncertain fractional-order systems. The robust controller is designed on the basis of fractional Lyapunov stability theory. Furthermore, the effects of model uncertai...
متن کاملA new switching strategy for exponential stabilization of uncertain discrete-time switched linear systems in guaranteed cost control problem
Uncertain switched linear systems are known as an important class of control systems. Performance of these systems is affected by uncertainties and its stabilization is a main concern of recent studies. Existing work on stabilization of these systems only provides asymptotical stabilization via designing switching strategy and state-feedback controller. In this paper, a new switching strate...
متن کاملType-2 Fuzzy Braking-Torque Electronic Stability Control for Four-Wheel Independent Drive Electric Vehicles
The electronic stability control (ESC) system is one of the most important active safety systems in vehicles. Here, we intend to improve the Electronic stability of four in-wheel motor drive electric vehicles. We will design an electronic stability control system based on Type-2 fuzzy logic controller. Since, Type-2 fuzzy controller has uncertainty in input interval furthermore of output fuzzin...
متن کاملImage Sequence Stabilization in Real Time
In this paper the problem of image stabilization is defined as follows: a camera mounted on a moving vehicle collects a sequence of images. The vehicle is trying to move along a smooth trajectory. In fact, however, the motion of the vehicle varies from the desired smooth motion; for a ground vehicle, this would primarily be due to roughness of the terrain. The goal of image stabilization is to ...
متن کاملDelay-dependent robust stabilization and $H_{infty}$ control for uncertain stochastic T-S fuzzy systems with multiple time delays
In this paper, the problems of robust stabilization and$H_{infty}$ control for uncertain stochastic systems withmultiple time delays represented by the Takagi-Sugeno (T-S) fuzzymodel have been studied. By constructing a new Lyapunov-Krasovskiifunctional (LKF) and using the bounding techniques, sufficientconditions for the delay-dependent robust stabilization and $H_{infty}$ control scheme are p...
متن کامل