Geometry stabilizing control of the extended nonholonomic double intergrator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Geometry stabilizing control of the extended nonholonomic double intergrator
	Peng Y(彭艳); Liu M(刘梅); Tang ZJ(唐智杰); Xie SR(谢少荣); Luo J(罗均)
	2010
会议名称	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期	December 14-18, 2010
会议地点	Tianjin, China
关键词	Biomimetics Robotics Unmanned vehicles
页码	926-931
中文摘要	The extended nonholonomic double intergrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett's condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system with the drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Furthermore, the drift involved in the ENDI can also be handled as an input perturbation by the proposed scheme. Besides the theoretical proofs, simulations conducted on the dynamics of a trimaran unmanned surface vehicle (USV) are also presented to demonstrate the validity and performance of the proposed method. © 2010 IEEE.
收录类别	EI
产权排序	1
会议主办者	IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, USA
语种	英语
ISBN号	978-1-4244-9317-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10450]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Peng Y,Liu M,Tang ZJ,et al. Geometry stabilizing control of the extended nonholonomic double intergrator[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. December 14-18, 2010.