Nonholonomic systems
Global Asymptotic Stabilization for a Class of High-Order Nonholonomic Systems with Time-Varying Delays
... the systems with time delays is naturally regarded as an interesting research ...delayed nonholonomic systems with different ...delayed nonholonomic system (1) is extremely challenging because ...
7
Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems
... of nonholonomic systems described by an extended chained form of differential ...well-known nonholonomic system, ...KEYWORDS: Nonholonomic systems, Terminal sliding mode control, ...
19
Double integrator model and invariant manifold theory algorithm for an X4 AUV
... a nonholonomic features. There exist various studies on nonholonomic underatuated control so far, but most of them are confined into the case of systems with two inputs and therefore there are a few ...
5
Optimal path planning for nonholonomic robotics systems via parametric optimisation
... of systems on Lie groups can be reduced to questions about their associated Lie ...For nonholonomic systems defined on Lie groups, the MPP methodologies are naturally based on Lie-algebraic ...
13
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
... Although, some investigations have been developed on spherical robots recently, motion control of these robots is still one of the major problem in robotic researches. Since the spherical shell is assumed to roll over ...
12
Approximation Based Adaptive Tracking Control of Uncertain Nonholonomic Mechanical Systems
... of nonholonomic systems has received consider- able attention during the past decade ...of nonholonomic systems with restricted mobility cannot be stabilized to a desired configuration (or ...
6
Global Output Feedback Stabilization of Nonholonomic Chained Form Systems with Communication Delay
... Motivated by the above discussion, we shall address this problem here. The contributions of this paper are highlighted as follows. (i) The networked output feedback stabilization problem of the nonholonomic ...
5
Invariant manifold for extended nonholonomic double integrator systems
... of nonholonomic systems is theoretically challenging and practically ...these systems cannot be stabilized to a point with pure smooth (or even continuous) state feedback ...control systems ...
6
An Integrated Artificial Potential Field Path Planning with Kinematic Control for Nonholonomic Mobile Robot
... to nonholonomic systems, the path could be infeasible ...the systems assumed the robot as point mass and there are an infinite number of points where the gradient vector is perpendicular to input ...
9
Finite-Time Control Design for Nonholonomic Mobile Robots Subject to Spatial Constraint
... Motivated by the above discussion, this paper focus on solving the finite-time stabilization problem for nonholonom- ic mobile robots subject to spatial constraint. The contri- butions can be highlighted as follows. (i) ...
6
Stabilization of Nonholonomic Robot Formations: A First‐state Contractive Model Predictive Control Approach
... During the past decades, trajectory tracking and point stabilization have received a lot of atten- tion and numerous control algorithms can be found in the existing literature. For interested readers, reference [ 32 ] is ...
14
A Predictive Sliding Mode Cascade Controller for Nonholonomic Autonomous Systems
... Nonholonomic systems present interesting control problems that require a variety of solutions ranging from relatively simple kinematic controllers to more sophisticated nonlinear controllers depending on ...
12
Robust intelligent active force control of nonholonomic wheeled mobile robot
... of nonholonomic WMR has been a subject of considerable research over the last few ...this nonholonomic constraint, the WMR cannot be stabilized to a point using the familiar smooth static-state feedback ...
15
A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking
... industrial systems, which can guarantee various stability and performance criteria, not only for SISO nonlinear systems but also for MIMO nonlinear systems ...control systems, fuzzy logic is ...
7
Motion Planning for Car-like Robots Using Hierarchical Genetic Algorithms
... In this article, we focused on the problem of generating optimal motion for a nonholonomic mobile robot which operates in a 2D environment, where obstacles are assumed to be fixed and polygonal. For this type of ...
5
Suppression of Oscillation of a Certain Two-Mass System with the Help of the Generalized Gauss Principle
... a nonholonomic sixth-order(!) constraint that is continuously realized when moving under the action of the control obtained by the minimization of functional ...the nonholonomic high-order constraint is ...
7
Fuzzy Logic Control Of An Autonomous Mobile Robot
... The term ‘autonomous robot’ has been ascribed to robotic systems to function without human supervision. [3] In this project, we assume that it is a unicycle mobile robot. The robot body is symmetrical around the ...
24
A layered fuzzy logic controller for nonholonomic car-like robot
... Hamilton * A Layered Fuzzy Controller for Nonholonomic Car-Like Robot Motion Planning calculated using the proportional navigation concepts [29], [30], in the signal processing unit show[r] ...
5
Nonholonomic frames for Finsler spaces with special (alpha, beta)-metric
... Non-holonomic frame relates a semi-Riemannian metric or Minkowski or Lorentz metric with an induced Finsler metric. Antonelli and Bucataru ([1], [2]), has been determined such a non-holonomic frame for two important ...
7
Online Full Text
... AGV systems in commercial and industrial scenarios, control and coordination of the AGVs become much more difficult under uncertain dynamic ...trol systems have been received much consideration in the last ...
7