[图书][B] Switching in systems and control
D Liberzon - 2003 - Springer
l\lany systems encountered in practice involve a coupling between contin uous dynamics
and discrete events. Systems in which these two kinds of dynamics coexist and interact are …
and discrete events. Systems in which these two kinds of dynamics coexist and interact are …
A recursive technique for tracking control of nonholonomic systems in chained form
ZP Jiang, H Nijmeijer - IEEE Transactions on Automatic control, 1999 - ieeexplore.ieee.org
The authors address the tracking problem for a class of nonholonomic chained form control
systems. A recursive technique is proposed which appears to be an extension of the …
systems. A recursive technique is proposed which appears to be an extension of the …
Overcoming the limitations of adaptive control by means of logic-based switching
In this paper we describe a framework for deterministic adaptive control which involves logic-
based switching among a family of candidate controllers. We compare it with more …
based switching among a family of candidate controllers. We compare it with more …
Saturated stabilization and tracking of a nonholonomic mobile robot
This paper presents a framework to deal with the problem of global stabilization and global
tracking control for the kinematic model of a wheeled mobile robot in the presence of input …
tracking control for the kinematic model of a wheeled mobile robot in the presence of input …
Simultaneous tracking and stabilization of mobile robots: an adaptive approach
This note presents a time-varying global adaptive controller at the torque level that
simultaneously solves both tracking and stabilization for mobile robots with unknown …
simultaneously solves both tracking and stabilization for mobile robots with unknown …
Logic-based switching control of a nonholonomic system with parametric modeling uncertainty
This paper is concerned with control of nonholonomic systems in the presence of parametric
modeling uncertainty. The specific problem considered is that of parking a wheeled mobile …
modeling uncertainty. The specific problem considered is that of parking a wheeled mobile …
Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems
M Oya, CY Su, R Katoh - IEEE Transactions on Robotics and …, 2003 - ieeexplore.ieee.org
The position/force tracking control of Lagrangian mechanical systems with classical
nonholonomic constraints is addressed in this paper. The main feature of this paper is that 1) …
nonholonomic constraints is addressed in this paper. The main feature of this paper is that 1) …
Global exponential setpoint control of wheeled mobile robots: a Lyapunov approach
This paper presents a new differentiable, time-varying controller for the regulation problem
for wheeled mobile robots. After the WMR kinematics have been transformed into an …
for wheeled mobile robots. After the WMR kinematics have been transformed into an …
Towards the supervisory control of uncertain nonholonomic systems
JP Hespanha, D Liberzon… - Proceedings of the 1999 …, 1999 - ieeexplore.ieee.org
This paper is concerned with control of nonholonomic systems in the presence of parametric
modeling uncertainties. The specific problem considered is that of parking a wheeled mobile …
modeling uncertainties. The specific problem considered is that of parking a wheeled mobile …
Regulation of a nonholonomic dynamic wheeled mobile robot with parametric modeling uncertainty using lyapunov functions
AP Aguiar, AN Atassi… - Proceedings of the 39th …, 2000 - ieeexplore.ieee.org
Addresses the problem of regulating the dynamic model of a nonholonomic wheeled robot
of the unicycle type to a point with a desired orientation. A simple controller is derived that …
of the unicycle type to a point with a desired orientation. A simple controller is derived that …