Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots 论文

摘要

Many nonholonomic mechanical systems, such as common wheeled mobile robots, are controllable but cannot be stabilized to given positions and orientations bv using smooth pure-state feedback control. However, as shown in Samson (1990), such systems may still be stabilized by using smooth time-varying feedbacks,—i.e., feedbacks that explicitly depend on the time variable. This possibility is here applied to the stabilization of a class of nonlinear systems whose equations encompass simple car models. A set of stabilizing smooth time-varying feedbacks is derived, and simulation results are given.