Near-Identity Diffeomorphisms and Exponential -Tracking and -Stabilization of First-Order Nonholonomic SE(2) Vehicles
نویسنده
چکیده
In this paper, we address -tracking and -stabilization for a class of SE(2) autonomous vehicles with firstorder nonholonomic constrains. We introduce a class of transformations called near-identity diffeomorphisms that allow dynamic partial feedback linearization of the translational dynamics of this planar vehicle. This allows us to achieve global exponential -stabilization and -tracking (in position) for the aforementioned class of planar vehicles using a coordinate-independent dynamic state feedback. This feedback law is only discontinuous w.r.t. the augmented state. We apply our results to -stabilization/tracking of a nonholonomic mobile robot.
منابع مشابه
Trajectory tracking with collision avoidance for nonholonomic vehicles with acceleration constraints and limited sensing
Nowadays, autonomously operated nonholonomic vehicles are employed in a wide range of applications, ranging from relatively simple household chores (e.g., carpet vacuuming and lawn mowing) to highly sophisticated assignments (e.g., outer space exploration and combat missions). Each application may require different levels of accuracy and capabilities from the vehicles, yet, all expect the same ...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملStabilization of Nonholonomic Robot Formations: A First-state Contractive Model Predictive Control Approach
A model predictive control algorithm is developed for stabilizing a team of nonholonomic mobile robots navigating in formation within an obstacle-populated environment. In this scenario, the leader robot may need to execute abrupt maneuvers (i.e., sudden stops and backward motions) in order to avoid collisions and accomplish mission objectives. Moreover, follower robots should be capable of tra...
متن کاملStabilization of the Unicycle via Dynamic Feedback Linearization
We consider the feedback control problem for a wheeled mobile robot with the kinematics of a unicycle, a typical example of nonholonomic robotic system. It is shown that dynamic feedback linearization can be used to design a simple control law which is valid for trajectory tracking as well as point stabilization tasks. In particular, for both cases exponential convergence with linear transients...
متن کاملمسیریابی حرکت روباتهای ماشینواره با روش پیشروی سریع
The Robot Motion Planning (RMP) problem deals with finding a collision-free start-to-goal path for a robot navigating among workspace obstacles. Such a problem is also encountered in path planning of intelligent vehicles and Automatic Guided Vehicles (AGVs). In terms of kinematic constraints, the RMP problem can be categorized into two groups of Holonomic and Nonholonomic problems. In the first...
متن کامل