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• W1973485474 abstract "Conventional stabilizing controllers for the nonholonomic systems stabilize the closed loop system to a target point. In this paper, considering the kinematic model of nonholonomic mobile robots, a design approach based on set stabilizing control is proposed. The proposed control laws can stabilize the closed loop system asymptotically to a set of given target points. First, for the one-order subsystem of the heading angle, a state feedback control law is designed to guarantee that the state of the closed loop subsystem is asymptotically stabilized to a set of target points. Second, for the second-order subsystem of the planar coordinates of the mass center, a state feedback control law is designed to guarantee that the states of the closed loop subsystem are both asymptotically stabilized to zero. Simulation results show the effectiveness of our method." @default.
• W1973485474 created "2016-06-24" @default.
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• W1973485474 date "2006-07-01" @default.
• W1973485474 modified "2023-09-27" @default.
• W1973485474 title "Set Stabilization of Nonholonomic Mobile Robots" @default.
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• W1973485474 doi "https://doi.org/10.1109/chicc.2006.4347545" @default.
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