In this paper, we investigate the leader-following based formation control of nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates. Based on this new model and the direct Lyapunov method, a globally stable controller is derived for the whole system. Simulation results are included to verify the feasibility of the proposed model...

This paper presents an algorithm, based on conventional GVG that enables a car-like robot find a collision free path from depart configuration to some goal position in an environment containing some convex obstacles. Prior research on GVG prescribed path for a circular robot. The circular robot is holonomic system, but this time GVG is used in nonholonomic system. The proposed algorithm enables...

Motor imagery EEG-based BCI has advantages in the assistance of human control of peripheral devices, such as the mobile robot or wheelchair, because the subject is not exposed to any stimulation and suffers no risk of fatigue. However, the intensive training necessary to recognize the numerous classes of data makes it hard to control these nonholonomic mobile systems accurately and effectively....

In this paper, the trajectory tracking control problem of uncertain nonholonomic mechanical systems is investigated. By separately considering kinematic and dynamic models of a nonholonomic mechanical system, a new adaptive tracking control is proposed based on neural network approximation. The proposed design consists of two steps. First, the nonholonomic kinematic subsystem is transformed int...

This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptiv...

This paper is concerned with the stabilization of nonholonomic systems in portcontrolled Hamiltonian formulae based on time-varying generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which modify the kinetic energy of the original system without changing the generalized Hamiltonian structure with passivity. Utilizing these...

The body of work called "Camera Space Manipulation" is an e ective and proven method of robotic control. Essentially, this technique identi es and re nes the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. Three{dimensional "success" of the desired motion, i.e., the end e ector of the manipulator engages a target at a particula...

In this paper we steer wheeled nonholonomic systems that can be represented in a so called chained form Su cient conditions for converting a multiple input system with nonholonomic velocity constraints into a multiple chain single generator chained form via state feedback and a coordinate transformation are presented along with sinusoidal and polynomial control algorithms to steer such systems ...

Nonlinear H∞ control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an L2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive c...

A general framework for the feedback control of mobile manipulators is proposed. Its main originality lies in its capacity to address in a unified manner both cases of omnidirectional and nonholonomic mobile platforms. It also allows for the execution of the desired manipulation task without the manipulator colliding into its joint limits, whenever these two objectives are compatible. This is o...