Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization

We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mech anical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing "static" and "dynamic" state feedback laws. We give conditions to avoid possible singularities of the feedback laws.

[1]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[2]  J. Descusse,et al.  Decoupling with Dynamic Compensation for Strong Invertible Affine Non Linear Systems , 1985 .

[3]  R. Marino.  On the largest feedback linearizable subsystem , 1986 .

[4]  Benoît Charlet.  Sur quelques problèmes de stabilisation robuste des systèmes non linéaires , 1989 .

[5]  J. Lévine,et al.  On dynamic feedback linearization , 1989 .

[6]  A. Bloch,et al.  Controllability and stabilizability properties of a nonholonomic control system , 1990, 29th IEEE Conference on Decision and Control.

[7]  G. Campion,et al.  On Adaptive Linearizing Control of Omnidirectional Mobile Robots , 1990 .

[8]  C. P. Neuman,et al.  Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot , 1990, Autonomous Robot Vehicles.

[9]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[10]  Anthony M. Bloch,et al.  Nonlinear Dynamical Control Systems (H. Nijmeijer and A. J. van der Schaft) , 1991, SIAM Review.

[11]  Claude Samson,et al.  Velocity and torque feedback control of a nonholonomic cart , 1991 .

[12]  J. Coron,et al.  Lyapunov design of stabilizing controllers for cascaded systems , 1991 .

[13]  M. Fliess,et al.  On Differentially Flat Nonlinear Systems , 1992 .

[14]  Jean-Michel Coron,et al.  Global asymptotic stabilization for controllable systems without drift , 1992, Math. Control. Signals Syst..

[15]  Philippe Martin.  Contribution a l'etude des systemes differentiellement plats , 1992 .

[16]  Jean-Baptiste Pomet.  Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift , 1992 .

[17]  Georges Bastin,et al.  Dynamic feedback linearization of nonholonomic wheeled mobile robots , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[18]  O. J. Sørdalen,et al.  Exponential control law for a mobile robot: extension to path following , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[19]  Georges Bastin,et al.  A hybrid strategy for the feedback stabilization of nonholonomic mobile robots , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[20]  S. Shankar Sastry,et al.  Stabilization of trajectories for systems with nonholonomic constraints , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[21]  R. Murray,et al.  Nonholonomic systems and exponential convergence: some analysis tools , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[22]  C. Samson,et al.  Trajectory tracking for unicycle-type and two-steering-wheels mobile robots , 1993 .

[23]  Jean-Baptiste Pomet,et al.  Time-varying exponential stabilization of nonholonomic systems in power form , 1994 .

[24]  Georges Bastin,et al.  Structural properties and classification of kinematic and dynamic models of wheeled mobile robots , 1996, IEEE Trans. Robotics Autom..