Exponential Stabilization of Mobile Robots with Nonholonomic Constraints

  • de Wit C
  • Sñrdalen O
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Abstract

The authors present an exponentially stable controller for a two
degree of freedom robot with nonholonomic constraints. They propose a
piecewise smooth controller to make the origin exponentially stable for
any initial condition in the state space. The main difference with
respect to other approaches can be summarized as follow. The proposed
scheme does not seek to render the discontinuous surface invariant, as
opposed to the principles of sliding control, but rather to make this
surface non-attractive. Infinite switching in the control law and the
undesirable chattering phenomenon, can thus be avoided. Furthermore,
this control law yields exponential stability so that the convergence
can be chosen arbitrarily fast

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Authors

  • C. Canudas de Wit

  • O. J. Sñrdalen

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