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Logic-based switching control of a nonholonomic system with parametric modeling uncertainty

✍ Scribed by João P. Hespanha; Daniel Liberzon; A.Stephen Morse

Publisher
Elsevier Science
Year
1999
Tongue
English
Weight
185 KB
Volume
38
Category
Article
ISSN
0167-6911

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✦ Synopsis

This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainty. The speciÿc problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by Brockett's nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.

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